CN113534739B - Automatic board turning method and system for carpenter - Google Patents
Automatic board turning method and system for carpenter Download PDFInfo
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- CN113534739B CN113534739B CN202010299213.4A CN202010299213A CN113534739B CN 113534739 B CN113534739 B CN 113534739B CN 202010299213 A CN202010299213 A CN 202010299213A CN 113534739 B CN113534739 B CN 113534739B
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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
- G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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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
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Abstract
The embodiment of the application belongs to the technical field of automatic control, and relates to an automatic plate turning method and system for a woodworking machine. The technical scheme provided by the application comprises the following steps: reading plate data and processing primitive data; analyzing the primitive data to obtain primitive parameters of each surface of the plate; and analyzing the plate data, and acquiring a target turning position by combining the primitive parameters. According to the automatic plate turning method for the woodworker, provided by the embodiment of the invention, in the production of the numerical control five-sided drill and six-sided drill furniture, the automatic plate turning function is realized by scanning the two-dimensional code on the plate, so that the collision between the drill bag and a clamping hand on a machine tool is avoided in the continuous machining process, and the woodworking machining efficiency is improved. For a numerical control system for woodworking, the stability of woodworking can be further improved by using a woodworking automatic plate turning method under the condition of ensuring the safety of clamping edges of clamping hands, and when a new plate turning factor is added, the woodworking can be stably and efficiently processed, so that the processing efficiency is greatly improved.
Description
Technical Field
The application relates to the technical field of automation control, in particular to an automatic plate turning method and system for a woodworking.
Background
Traditional carpenter's processing, in order to avoid tong one side to the interference of panel processing as far as possible, before cutting each plank, after all needing artifical observation, it is manual to wait to process panel and adjust suitable position to make things convenient for subsequent processing. However, the manual turning plate mode usually needs to be adjusted for multiple times to meet the processing requirement, the stability and efficiency of woodworking processing are seriously influenced, and the workload of operators is increased.
In the automatic plate turning process, the manual operation cost can be greatly reduced by adopting a special example enumeration method, but when a primitive to be processed is newly added, a set of plate turning rules suitable for the primitive must be rewritten, and all possible plate turning results are enumerated. This method is not only very labor intensive, but also difficult to complete exhaustively for a particular example. To further increase the efficiency and expandability of woodworking flaps, new optimization methods need to be developed to address this issue.
Disclosure of Invention
The invention aims to provide an automatic board turning method and system for woodworkers, which can further improve the stability of woodworking processing under the condition of ensuring the safety of clamping edges of clamping hands, can stably and efficiently process when new board turning factors are added, and greatly improves the processing efficiency.
In order to solve the above-mentioned problems, the embodiments of the present invention provide the following technical solutions:
an automatic plate turning method for woodworkers comprises the following steps:
reading plate data and processing primitive data;
analyzing the primitive data to obtain primitive parameters of each surface of the plate;
and analyzing the plate data, and acquiring a target turning position by combining the primitive parameters.
Further, the step of analyzing the primitive data and obtaining primitive parameters of each surface of the plate includes:
acquiring the quantity of the graphic elements on the front surface, the back surface and the side surface of the plate, the quantity of the graphic element types such as curves, grooves and holes, and the quantity of the graphic element types which are smaller than the width of a clamping hand in the range from the boundary of the plate.
Further, when the primitive type is a slot, counting the milling cutter times of each edge of the plate.
Further, the step of performing the plate data analysis comprises:
and detecting the defects of the plate and analyzing the geometric type of the plate.
Further, the step of detecting the defects of the plate material comprises the following steps:
detecting the special shape of the plate, judging the special shape of the front and rear clamping hands of the turning plate, and judging the special shape of the plate on the front and rear positioning pins of the turning plate.
Further, the step of analyzing the geometric type of the sheet material comprises:
presetting the side where the clamping hand is located as the lower side of the plate, rotating the plate until the lower side of the plate is located at the side where the clamping hand is located if the lower side of the plate is not located at the side where the clamping hand is located, and recording the rotation sequence of the plate;
comparing the value of the long edge and the value of the short edge of the plate with the adjustment error;
when the value of subtracting the short edge from the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the upper side and the lower side of the plate;
if the advantages of the turning plate on the upper side of the plate are greater than those of the turning plate on the lower side of the plate, turning the plate up and down, and comparing the advantages of the turning plates on the front side and the back side of the plate;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value of the short edge minus the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the left side and the right side of the plate;
if the advantage of the plate on the left side of the plate is greater than that of the plate on the right side of the plate, the plate is turned by 90 degrees anticlockwise, otherwise, the plate is turned by 90 degrees clockwise, and then the advantages of the plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the turning plates on the upper side, the lower side, the left side and the right side of the plate to obtain a plate turning result;
and reversely rotating the plates according to the recorded rotation sequence of the plates.
Further, when the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the plate turning on the upper, lower, left and right sides of the plate, and obtaining the plate turning result, the method comprises the following steps:
if the advantages of the turning plate on the upper side of the plate are large, the plate is turned over up and down, and then the advantages of the turning plate on the front side and the advantages of the turning plate on the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plates on the left side of the plate are large, the plate is turned 90 degrees anticlockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plates on the right side of the plate are large, the plate is turned by 90 degrees clockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plate on the lower side of the plate are large, then the advantages of the turning plate on the front side and the reverse side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, the plate is turned left and right, otherwise, the turning is finished.
Further, the weight of the front surface, the back surface and the side surface of the plate is
The quantity of the graphic elements on the front surface, the back surface and the side surface of the plate is as follows;
the specific formula of the plate turning advantages of the plate is as follows:
further, the step of detecting the shape of the plate comprises the following steps:
detecting the plate according to the stored coordinate points of the plate boundary;
and if the coordinate point which is not on the plate boundary exists, detecting the boundary where the adjacent coordinate point before the coordinate point is located to determine the position of the special-shaped edge.
In order to solve the technical problem, the embodiment of the invention also provides an automatic turnover system for carpenters, which adopts the following technical scheme:
an automatic plate turnover system for woodworkers comprises a reading module, a processing module and a control module, wherein the reading module is used for reading plate data and processing primitive data;
the primitive data analysis module is used for analyzing the primitive data to obtain primitive parameters of each surface of the plate;
and the plate data analysis module is used for analyzing the plate data and acquiring a target turning position by combining the primitive parameters.
Compared with the prior art, the embodiment of the invention mainly has the following beneficial effects:
the invention provides an automatic board turning method and system for a woodworking, and the automatic board turning method provided by the embodiment of the invention realizes the automatic board turning function by scanning a two-dimensional code on a board in the production of numerical control five-sided drilling and six-sided drilling furniture, so that a drill bag is prevented from colliding with a clamping hand on a machine tool in the continuous processing process, and the woodworking processing efficiency is improved. To the numerical control system for carpenter's processing, utilize the automatic board method of turning over of carpenter can further promote carpenter's processing stability under the security condition of guaranteeing the tong clamping limit to when adding new board factor of turning over, also can process steadily high-efficiently, machining efficiency also consequently obtains very big promotion.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a block diagram of the flow of an automatic carpentry board turning method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a carpentry automatic plate-turning method in an embodiment of the invention.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprising" and "having," and any variations thereof, in the description and claims of the present invention and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of the present invention or in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the relevant drawings.
Examples
An automatic plate turning method for carpenters is shown in figures 1 and 2 and comprises the following steps:
s1, reading plate data and processing primitive data;
s2, analyzing the primitive data to obtain the primitive parameters of each surface of the plate;
and S3, analyzing the plate data, and acquiring a target turning position by combining the primitive parameters.
Reading plate data and processing graphic element data, mainly sorting and transmitting the data, and extracting the graphic element data of different splitting files (such as mpr, xml, ini, dxf and ban).
The step of analyzing the primitive data and obtaining the primitive parameters of each surface of the plate comprises the following steps:
acquiring the quantity of graphic elements on the front surface, the back surface and the side surface of the plate, the quantity of curves, grooves and holes of the graphic element types, and the quantity of the graphic element types which are smaller than the width of a clamping hand in the range from the boundary of the plate.
And when the primitive type is a groove, counting the milling cutter times of each edge of the plate.
Primitive data analysis is an important condition for flap advantage estimation. The data analysis respectively counts the number of primitives of each surface (front, back and side) of the plate, the primitive type of each surface is curve, slot and hole, and the number of primitives of each type is less than the width of a clamping hand in the range from the boundary of the plate, and particularly when the primitive type is slot, the times of each side milling cutter need to be counted.
The step of performing the sheet material data analysis comprises:
and (5) detecting the defects of the plate and analyzing the geometric type of the plate.
The step of detecting the defects of the plate comprises the following steps:
detecting the special shapes of the plates, judging the special shapes of the front and rear clamping hand sides of the turning plate, and judging the special shapes of the plates on the front and rear positioning pin sides of the turning plate.
The method for detecting the special shape of the plate comprises the following steps:
detecting the plate according to the stored coordinate points of the plate boundary;
if the coordinate point which is not on the plate boundary exists, detecting the boundary where the adjacent coordinate point before the coordinate point is located to determine the position of the irregular edge.
Because the coordinate points of the outer contour of the plate are stored according to a certain sequence (clockwise or anticlockwise), the defect detection method can inspect whether points which are not on the boundary of the plate exist or not by traversing the data points, and if so, continuously inspecting the boundary where the previous adjacent point of the point exists, so that the position of the special-shaped edge can be determined.
The step of analyzing the geometric type of the plate comprises the following steps:
presetting the side where the clamping hand is located as the lower side of the plate, rotating the plate until the lower side of the plate is located at the side where the clamping hand is located if the lower side of the plate is not located at the side where the clamping hand is located, and recording the rotation sequence of the plate;
comparing the value of the long edge and the value of the short edge of the plate with the adjustment error;
when the value of the long side minus the short side of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the upper side and the lower side of the plate;
if the advantages of the turning plate on the upper side of the plate are greater than those of the turning plate on the lower side of the plate, turning the plate up and down, and comparing the advantages of the turning plates on the front side and the back side of the plate;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value of the short edge minus the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the left side and the right side of the plate;
if the advantage of the turning plate on the left side of the plate is greater than that of the turning plate on the right side of the plate, the plate is turned 90 degrees anticlockwise, otherwise, the plate is turned 90 degrees clockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the turning plates on the upper side, the lower side, the left side and the right side of the plate to obtain a plate turning plate result;
and reversely rotating the plate according to the recorded rotation sequence of the plate.
It should be noted that, in an actual processing scenario, the orientation (upper side, lower side, left side, right side) of the plate to be processed, which is conveyed by the gripper conveyor, is uncertain. In the embodiment of the invention, the side where the preset clamping hand is located is the lower side of the plate. The method comprises the steps of taking the lower side of a plate clamped by a clamping hand as the lower side, if the plate clamped by the clamping hand is not the lower side of the plate, rotating the plate to the position where the lower side of the plate is the clamping hand before turning the plate by the method, recording the rotation sequence, turning the plate by the method, and finally reversely rotating the plate after the plate turning treatment according to the previously recorded rotation sequence of the plate to obtain the final plate turning effect.
When the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the plate turning at the upper side, the lower side, the left side and the right side of the plate, and acquiring the plate turning result, wherein the step comprises the following steps:
if the advantages of the turning plate on the upper side of the plate are large, the plate is turned over up and down, and then the advantages of the turning plate on the front side and the advantages of the turning plate on the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the plate turning at the left side of the plate has large advantages, the plate is turned 90 degrees anticlockwise, and then the advantages of the plate turning at the front side and the plate turning at the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plates on the right side of the plate are large, the plate is turned by 90 degrees clockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plates on the lower side of the plate are large, then comparing the advantages of the turning plates on the front side and the back side of the plate;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, the plate is turned left and right, otherwise, the turning is finished.
In the embodiment of the present invention, the expression of the boundary of the plate material in the X, Y plane coordinate system is as follows (wherein,
and
length and width of the sheet respectively):
the geometric type of the plate can be analyzed by adjusting the error
The geometric shape of the plate is analyzed, and the phenomenon that the plate is bent when a clamping hand clamps the short edge of the slender plate is avoidedSuch as a mouse. In the embodiment of the invention, 3 plate geometric shapes are mainly considered:
if the side of the clamping hand is the lower side of the plate, the left side, the upper side and the lower side of the plate are sequentially arranged in the clockwise direction. When turning the plate, only the advantages of the turning plates on the upper side and the lower side of the plate are considered for the mode (1). If the advantage of the upper side turning plate is greater than that of the lower side, the upper turning plate and the lower turning plate are selected for the plate, then the plate is compared, the advantages of the turning plates on the front side and the back side are compared, if the advantage of the back side is greater than that of the front side, left-right turning is carried out, and otherwise, turning is finished. In the case of the mode (2), only the advantages of the left and right flaps are considered when the flaps are turned. If the left side turns over the board advantage and is greater than the right side, then the anticlockwise upset 90 degrees of panel, otherwise clockwise upset 90 degrees, the board advantage of turning over of positive and negative two sides is than after that, if the back advantage is greater than the front, then control the upset, otherwise finish the upset. In the case of the mode (3), the advantages of the flaps on the upper side, the lower side, the left side and the right side need to be compared when the flaps are turned, so as to find the optimal turning position.
In the embodiment of the invention, according to the interference degree to the clamping hand, the following steps are performed from large to small: whether the plate is abnormal or not, the geometric shape of the plate, a curve primitive, a groove primitive and a hole primitive. For a plurality of primitives with the same grade, the priority level is adopted as the front surface<Side surface<And a back surface. While different surfaces are given different weights during design
The larger the priority, the larger the weight. Statistics of
Number of primitives for a surface
Will be
And
the sum of the products serves as the flap factor at that level.
The weight of the front surface, the back surface and the side surface of the plate is
The quantity of the graphic elements on the front surface, the back surface and the side surface of the board is
；
The specific formula of the plate turning advantages of the plate is as follows:
according to the automatic plate turning method for the woodworker, provided by the embodiment of the invention, in the production of the numerical control five-sided drill and six-sided drill furniture, the automatic plate turning function is realized by scanning the two-dimensional code on the plate, so that the collision between the drill bag and a clamping hand on a machine tool is avoided in the continuous machining process, and the woodworking machining efficiency is improved. For a numerical control system for woodworking, the stability of woodworking can be further improved by using a woodworking automatic plate turning method under the condition of ensuring the safety of clamping edges of clamping hands, and when a new plate turning factor is added, the woodworking can be stably and efficiently processed, so that the processing efficiency is greatly improved.
In order to solve the technical problem provided above, an embodiment of the present invention further provides an automatic turning system for carpenters, which adopts the following technical scheme:
an automatic plate turnover system for woodworkers comprises a reading module, a processing module and a control module, wherein the reading module is used for reading plate data and processing primitive data;
the primitive data analysis module is used for analyzing the primitive data and acquiring primitive parameters of each surface of the plate;
and the plate data analysis module is used for analyzing the plate data and acquiring a target turning position by combining the primitive parameters.
Finally, it should be noted that, in the description of the present invention, relational terms such as "first", "second", and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions or without necessarily requiring or implying any relative importance or implying any order among or between such technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly, as they may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically or in communication with each other; may be directly connected or indirectly connected through intervening media, and may be in communicating relationship between the two elements unless otherwise specifically limited. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various embodiments. However, the disclosed method should not be construed to reflect the intent: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, embodiment aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. It should be noted that the particular features, structures, materials, or characteristics described in the embodiments and examples of the present application may be combined with each other without conflict or conflict. The present invention is not limited to any single aspect, nor is it limited to any single embodiment, nor is it limited to any combination and/or permutation of these aspects and/or embodiments. Moreover, each aspect and/or embodiment of the invention may be utilized independently or in combination with one or more other aspects and/or embodiments by one of ordinary skill in the art without contradiction to each other.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. An automatic plate turning method for woodworkers is characterized by comprising the following steps:
reading plate data and processing primitive data;
analyzing the primitive data to obtain primitive parameters of each surface of the plate;
analyzing plate data, and acquiring a target turning position by combining the primitive parameters;
the step of performing the sheet data analysis comprises:
analyzing the geometric type of the plate;
the step of performing a geometric type analysis of the sheet material comprises:
comparing the value of the long edge and the value of the short edge of the plate with the adjustment error;
when the value of subtracting the short edge from the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the upper side and the lower side of the plate;
if the advantages of the turning plates on the upper side of the plate are greater than those of the turning plates on the lower side of the plate, the plate is turned up and down, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value of the short edge minus the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the left side and the right side of the plate;
if the advantage of the plate on the left side of the plate is greater than that of the plate on the right side of the plate, the plate is turned by 90 degrees anticlockwise, otherwise, the plate is turned by 90 degrees clockwise, and then the advantages of the plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
when the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the turning plates on the upper side, the lower side, the left side and the right side of the plate to obtain a plate turning plate result;
and reversely rotating the plates according to the recorded rotation sequence of the plates.
2. The automatic woodworking plate turning method according to claim 1, wherein the step of analyzing primitive data and obtaining primitive parameters of each surface of the plate comprises the following steps:
acquiring the quantity of graphic elements on the front surface, the back surface and the side surface of the plate, the quantity of curves, grooves and holes of the graphic element types, and the quantity of the graphic element types which are smaller than the width of a clamping hand in the range from the boundary of the plate.
3. The automatic plate turning method for woodworkers according to claim 2, characterized in that when the primitive type is a groove, the number of milling cutters of each side of the plate is counted.
4. The automated woodworking plate turning method of claim 1, wherein the step of performing panel data analysis further comprises:
and (5) detecting the defects of the plate.
5. An automatic woodworking plate turning method according to claim 4, wherein the step of performing plate defect detection comprises:
detecting the special shape of the plate, judging the special shape of the front and rear clamping hands of the turning plate, and judging the special shape of the plate on the front and rear positioning pins of the turning plate.
6. The automated woodworking plate turning method of claim 4, wherein the step of analyzing the geometric type of the plate further comprises:
presetting the side where the clamping hand is located as the lower side of the plate, rotating the plate to the position where the lower side of the plate is located at the clamping hand if the lower side of the plate is not located at the side where the clamping hand is located, and recording the rotation sequence of the plate.
7. The automatic plate turnover method for woodworkers according to claim 6, characterized in that when the value of the long side minus the short side of the plate is within the adjustment error range, the plate turnover advantages of the upper side, the lower side, the left side and the right side of the plate are compared, and the step of obtaining the plate turnover result comprises the following steps:
if the advantages of the turning plate on the upper side of the plate are large, the plate is turned over up and down, and then the advantages of the turning plate on the front side and the advantages of the turning plate on the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the plate turning at the left side of the plate has large advantages, the plate is turned 90 degrees anticlockwise, and then the advantages of the plate turning at the front side and the plate turning at the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plates on the right side of the plate are large, the plate is turned by 90 degrees clockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared;
if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished;
if the advantages of the turning plate on the lower side of the plate are large, then the advantages of the turning plate on the front side and the reverse side of the plate are compared;
and if the advantages of the turning plate on the back side of the plate are greater than those of the turning plate on the front side, turning left and right, otherwise, finishing turning.
8. The automatic board turning method for carpentry according to claim 1, wherein the weights of the front surface, the back surface and the side surfaces of the board are as follows
The quantity of the graphic elements on the front surface, the back surface and the side surface of the plate is as follows;
the specific formula of the plate turning advantages of the plate is as follows:
9. an automatic woodworking plate turning method according to claim 5, wherein the step of detecting the shape of the plate comprises the following steps:
detecting the plate according to the stored coordinate points of the plate boundary;
and if the coordinate point which is not on the plate boundary exists, detecting the boundary where the adjacent coordinate point before the coordinate point is located to determine the position of the special-shaped edge.
10. An automatic plate turnover system for woodworker is characterized in that,
the device comprises a reading module, a processing module and a processing module, wherein the reading module is used for reading plate data and processing primitive data;
the primitive data analysis module is used for analyzing the primitive data and acquiring primitive parameters of each surface of the plate;
the plate data analysis module is used for analyzing plate data and acquiring a target turning position by combining the primitive parameters, wherein the plate data analysis comprises plate geometric type analysis, and the plate geometric type analysis comprises comparison of values of long edges and short edges of the plates and adjustment errors; when the value of subtracting the short edge from the long edge of the plate is larger than the adjustment error, comparing the advantages of the turning plates on the upper side and the lower side of the plate; if the advantages of the turning plate on the upper side of the plate are greater than those of the turning plate on the lower side of the plate, turning the plate up and down, and comparing the advantages of the turning plates on the front side and the back side of the plate; if the advantages of the turning plate on the back side of the plate are greater than those of the turning plate on the front side, turning left and right, otherwise, finishing turning, and comparing the advantages of the turning plates on the left side and the right side of the plate when the value obtained by subtracting the long side from the short side of the plate is greater than the adjustment error; if the advantage of the turning plate on the left side of the plate is greater than that of the turning plate on the right side of the plate, the plate is turned 90 degrees anticlockwise, otherwise, the plate is turned 90 degrees clockwise, and then the advantages of the turning plates on the front side and the back side of the plate are compared; if the advantages of the reverse turning plate of the plate are greater than those of the front turning plate, turning left and right, otherwise, turning over is finished; when the value obtained by subtracting the short edge from the long edge of the plate is within the adjustment error range, comparing the advantages of the turning plates on the upper side, the lower side, the left side and the right side of the plate to obtain a plate turning plate result; and reversely rotating the plates according to the recorded rotation sequence of the plates.
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| CN202010299213.4A CN113534739B (en) | 2020-04-15 | 2020-04-15 | Automatic board turning method and system for carpenter |
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| JPH10253547A (en) * | 1997-03-06 | 1998-09-25 | Kao Corp | Visual inspection system for board |
| JP2000118695A (en) * | 1998-10-14 | 2000-04-25 | Morita Mokkosho:Kk | Upside-down reversing device for wood plate material |
| US7200458B2 (en) * | 2003-07-24 | 2007-04-03 | Lucidyne Technologies, Inc. | Wood tracking by identification of surface characteristics |
| CA2485668A1 (en) * | 2004-10-21 | 2006-04-21 | Stuart G. Moore | Method and system for detecting characteristics of lumber using end scanning |
| JP2006226950A (en) * | 2005-02-21 | 2006-08-31 | Si Seiko Co Ltd | Timber inspection method and device |
| CN104526828B (en) * | 2014-12-22 | 2017-01-18 | 佛山维尚家具制造有限公司 | Automatic plate machining device for customizing furniture |
| ITUB20152339A1 (en) * | 2015-07-21 | 2017-01-21 | Giuseppe Gallucci | EQUIPMENT FOR THE TILTING OF SHEETS AND / OR PANELS |
| CN105173815B (en) * | 2015-08-26 | 2017-11-28 | 卓达新材料科技集团有限公司 | A kind of control system and control method of automatic board tipper |
| CN107437094B (en) * | 2017-07-12 | 2021-04-20 | 北京木业邦科技有限公司 | Wood board sorting method and system based on machine learning |
| CN107831175B (en) * | 2017-11-17 | 2023-11-24 | 广西我的科技有限公司 | Double-sided detection device and method for surface defects of plates |
| CN109664663A (en) * | 2018-10-26 | 2019-04-23 | 广州三拓金属加工机械有限公司 | A kind of full-automatic panel turnover device of double-station |
| CN110978154A (en) * | 2019-12-26 | 2020-04-10 | 济南贝因数控机械有限公司 | Automatic woodworking plate turnover machine and control method thereof |
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