CN116787433A - Discharging teaching method, discharging teaching device, storage medium and processing equipment - Google Patents
Discharging teaching method, discharging teaching device, storage medium and processing equipment Download PDFInfo
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- CN116787433A CN116787433A CN202310754715.5A CN202310754715A CN116787433A CN 116787433 A CN116787433 A CN 116787433A CN 202310754715 A CN202310754715 A CN 202310754715A CN 116787433 A CN116787433 A CN 116787433A
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- 238000000034 method Methods 0.000 title claims abstract description 75
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 238000007599 discharging Methods 0.000 title description 33
- 239000000463 material Substances 0.000 claims abstract description 250
- 238000003754 machining Methods 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 230000007704 transition Effects 0.000 description 6
- 230000001788 irregular Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 238000005520 cutting process Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
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- 238000004891 communication Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a blanking teaching method, a blanking teaching device, a storage medium and processing equipment, wherein the blanking teaching method can typeset a material plate to generate a nesting template; and matching the material taking model according to the position information of the material plate and the trepanning template to generate a material taking program. After the teaching of nesting and taking materials is completed, the material plate can be cut, then the manipulator is driven to complete the material taking procedure, and the workpiece is placed in a set area. Need not to carry out artifical teaching to every work piece, promoted unloading efficiency greatly, be fit for flexible production.
Description
Technical Field
The application relates to the field of machining, in particular to a blanking teaching method, a blanking teaching device, a storage medium and machining equipment.
Background
In the field of machining, it generally involves cutting a plate to obtain a workpiece, and then blanking the cut workpiece from the plate. The manual blanking, though the flexibility is high, but personnel working strength is big, also has certain security risk, and the long-term input cost of labor is high. Robot blanking is also used in the industry, but most of the robot blanking is manually taught, so that the robot blanking has certain advantages for the working condition of continuous mass processing, and for different workpieces, manual teaching is needed for each workpiece, so that the blanking efficiency is affected.
Disclosure of Invention
The application provides a blanking teaching method, a blanking teaching device, a storage medium and processing equipment, which can automatically perform blanking teaching and blanking teaching on a material plate and have high working efficiency.
The embodiment of the application provides a blanking teaching method, which comprises the following steps:
typesetting is carried out based on the workpiece drawing and the material plate model to generate a jacking template;
matching the material taking model with a workpiece model on the trepanning template to generate a matching scheme;
based on the actual coordinates of the web and the matching scheme, to form the take-off program.
In some embodiments, the matching the reclaiming model with the workpiece model on the trepanning template, generating the matching scheme includes the steps of:
and adjusting the angular relationship and the position relationship between the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value.
In some embodiments, the matching the reclaiming model with the workpiece model on the trepanning template, generating the matching scheme includes the steps of:
marking the contour line of the workpiece model matched with the material taking model and the suction piece corresponding to the working model;
and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
In some embodiments, before the matching the material taking model with the workpiece model on the trepanning template, the method further comprises the following steps:
setting a material taking model, and adjusting the number and the spacing of the sucking pieces in the material taking model.
In some embodiments, the forming a take-off procedure further comprises the steps of:
transferring the workpiece model and placing the workpiece model into a blanking area to generate a blanking scheme;
and forming a blanking procedure based on the material taking procedure, the blanking scheme and the actual coordinates of the blanking area.
The application also provides a blanking teaching device, which comprises:
the nesting module is used for typesetting based on the workpiece drawing and the material plate model so as to generate a nesting template;
the teaching module is used for matching the material taking model with the workpiece model on the trepanning template to generate a matching scheme;
the teaching module is also used for forming a material taking program based on the actual coordinates of the material plate and the matching scheme.
In some embodiments, the teaching module is further configured to:
and adjusting the angular relationship and the position relationship between the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value.
In some embodiments, the teaching module is further configured to:
marking the contour line of the workpiece model matched with the material taking model and the suction piece corresponding to the working model;
and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
In some embodiments, the teaching module is further configured to:
setting a material taking model, and adjusting the number and the spacing of the sucking pieces in the material taking model.
In some embodiments, the teaching module is further configured to:
transferring the workpiece model and placing the workpiece model into a blanking area to generate a blanking scheme;
and forming a blanking procedure based on the material taking procedure, the blanking scheme and the actual coordinates of the blanking area.
The embodiment of the application also provides a storage medium storing a computer instruction program which, when executed by a processor, causes the processor to execute the steps of the method.
The embodiment of the application also provides processing equipment, which comprises at least one memory and at least one processor, wherein the memory stores a computer instruction program, and the computer instruction program is executed by the processor to enable the processor to execute the steps of the method.
According to the blanking teaching method, the blanking teaching device, the storage medium and the processing equipment, the blanking teaching method can typeset the material plate to generate the nesting template; and matching the material taking model according to the position information of the material plate and the trepanning template to generate a material taking program. After the teaching of nesting and taking materials is completed, the material plate can be cut, then the manipulator is driven to complete the material taking procedure, and the workpiece is placed in a set area. Need not to carry out artifical teaching to every work piece, promoted unloading efficiency greatly, be fit for flexible production.
Drawings
FIG. 1 is a flow chart of a blanking teaching method in an embodiment of the present application;
FIG. 2 is a flow chart of a method for teaching blanking in another embodiment of the present application;
FIG. 3 is a flowchart of a blanking teaching method in another embodiment of the present application;
FIG. 4 is a flow chart of a process apparatus according to one embodiment;
FIG. 5 is a schematic diagram of functional blocks of a processing apparatus according to one embodiment of the present disclosure;
FIG. 6 is a schematic diagram of a blanking teaching result in an embodiment;
FIG. 7 is a schematic diagram of an operation interface for applying for a material taking model setup in an embodiment;
FIG. 8 is a schematic diagram of a teaching interface for material taking in one embodiment;
FIG. 9 is a schematic diagram of an operation teaching interface for discharging in an embodiment;
fig. 10 is a schematic diagram of an operation interface of a trepanning die plate according to an embodiment of the present application.
Description of the reference numerals:
10. the device comprises a nesting module, a 20 and a teaching module; 30. a blanking control module; 40. a memory.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present application will be made more clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that all directional indications such as up, down, left, right, front, and rear … … in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture such as that shown in the drawings, and if the particular posture is changed, the directional indication is changed accordingly.
It will also be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
The embodiment of the application provides a blanking teaching method, and referring to fig. 1, the blanking teaching method comprises the following steps:
s10, typesetting is carried out based on a workpiece drawing and a material plate model to generate a trepanning template;
referring to fig. 10, drawing information of various workpieces to be cut, processing number information of each workpiece and specification information of a material plate are imported, a material plate model is automatically built according to the specification information of the material plate, each workpiece is automatically typeset on the material plate model, a sleeve material template is formed, and the sleeve material template is formed by attaching typeset workpiece contour lines on the material plate model, so that materials of the material plate can be utilized to the maximum extent, and the utilization rate is improved.
S20, matching the material taking model with a workpiece model on the trepanning template to generate a matching scheme;
referring to fig. 7, the material taking mold may be a mold of a suction assembly for sucking a workpiece, which includes a mounting frame and suction members provided on the mounting frame, and a center of the mounting frame may be regarded as a center of the material taking mold. Referring to fig. 8, the material taking model and the workpiece model are overlapped along the direction perpendicular to the material sucking model and the workpiece model, and when the material taking model has the sucking piece in the contour line of the workpiece model, the matching is successful. The matching process can be automatic matching or manual matching, namely dragging the material taking model to move or dragging the workpiece to move in an operation interface so as to finish matching. Before the matching is confirmed, the gesture of the workpiece model and the material taking model can be adjusted. After confirming the match, a match result is generated. The matching result comprises coordinate values of the center of the material taking model relative to the workpiece model, the angle relation of the material taking model relative to the workpiece model and the number of the suction piece matched with the target workpiece. In fig. 8, the green line portion is a take-out pattern in which yellow highlighted circles represent matched pickups.
S30, forming a material taking program based on the actual coordinates of the material plates and the matching scheme;
the actual coordinate information of the material plate is obtained through a visual identification positioning or capacitance edge searching mode, the actual coordinate information of the contour line of the material plate and the actual coordinate information of the processing origin are determined, and the endpoint of one point of the material plate can be selected by the processing origin. Referring to fig. 10, the processing origin positions the end point of the lower left corner of the web. Fitting the contour line of the jacking template on a material plate to form coordinate information of contour lines of all workpieces and coordinate information of the workpieces. Based on the coordinate value of the material taking model center relative to the workpiece model, the angle relation of the material taking model relative to the workpiece model and the actual coordinate information of the material plate in the matching result, the actual position information and the angle information of the material taking model, namely the first position information and the first angle information, can be obtained when material is taken. After the matched material taking model is confirmed, simulating the process of feeding and grabbing the workpiece by the manipulator, and teaching to generate a material taking program. The material taking program comprises position information of each target workpiece, first position information and first angle information of a corresponding suction piece model, manipulator posture information, suction piece use state information and material taking path information.
According to the blanking teaching method provided by the application, typesetting can be performed on the material plate to generate a jacking template; and matching the material taking model according to the position information of the material plate and the trepanning template to generate a material taking program. After the teaching of nesting and taking materials is completed, the material plate can be cut, then the manipulator is driven to complete the material taking procedure, and the workpiece is placed in a set area. Need not to carry out artifical teaching to every work piece, promoted unloading efficiency greatly, be fit for flexible production. The operation track of the manipulator is simulated through the teaching software, the state of the suction component is simulated, the editable data text is generated, the user side performs data processing according to the installation position of the manipulator, the data processing is converted into a form which can be recognized by the manipulator, and the manipulator is driven to execute sorting and blanking according to the result taught by the software.
In some embodiments, referring to fig. 2, the step S20 is performed further comprising the steps of:
s21, adjusting the angle relation and the position relation of the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value. Referring to fig. 8, when the number of suction pieces in the contour line of the workpiece is equal to or greater than the set minimum number of suction pieces, the matching of the workpiece is successful, and the contour of the workpiece turns red at this time, indicating that the workpiece can be gripped by the suction pieces. When the angle of the material taking model is not proper, the material taking model can be adjusted by rotating and/or moving so as to achieve a better position and angle. By limiting the number of suction members, it is ensured that the suction force of the suction members is sufficient to suck the workpiece during suction, and the workpiece is not dropped even if one or more of the suction members fails. And determining the number information and the state information of the suction piece corresponding to the workpiece model. In the suction procedure formed by teaching, for each workpiece, the suction member corresponding thereto is driven to protrude to interface with the workpiece. The suction piece can be a suction cup, the suction piece is in a suction state to establish negative pressure, the suction piece can also take a magnetic suction mode, a coil is wound on the periphery of the suction piece, and the coil is electrified to generate electromagnetic force of the suction piece to suck a workpiece. The material taking model usually adopts intensive lattice type suckers, the suckers are uniformly distributed according to a certain interval, the material taking model can be made into irregular distribution, the practicality is the main, each sucker is independently controlled, and after the material taking model is preset in software, the position of a sucker real object is not required to be adjusted during working.
It will be appreciated that the set values in this step may be the same fixed value for all the workpieces, although different set values may be provided for different workpieces, the size of the particular set value being determined by the weight of the workpiece. Therefore, in the step S20, the method further includes the step of obtaining a weight value of the workpiece model according to the area enclosed by the contour line of the workpiece model in the nesting template, the thickness of the material plate and the density; and calculating the numerical value of the suction piece required to be matched by the workpiece model according to the weight value and the suction value of the single suction piece, wherein the numerical value is the set value. The ratio of the resultant force value of the suction force values of the suction members to the weight value of the workpiece model is in the range of 1.2-2. Of course, the ratio also considers the acceleration of the manipulator in the material taking process, and the resultant force value is larger than the resultant force of the gravity of the workpiece model and the driving force corresponding to the acceleration of the workpiece when the manipulator is in carrying.
In some embodiments, referring to fig. 2, after performing step S21, the following steps are further included:
s22, marking the contour line of the workpiece model which is matched with the material taking model and the suction piece corresponding to the workpiece model; and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
In this step, it is assumed that the spare suction member of the current material taking model may also grasp the remaining workpiece, and new material taking data may be continuously added in the material taking program to perform material taking teaching on other workpieces. At this time, the matched suction piece in the material taking model can not be used any more, and the matched workpiece model can be displayed. Of course, the target workpiece in the teaching can be the same workpiece processed in the same batch on the material plate, or can be other workpieces processed in the same batch on the material plate and different from the workpiece in the first teaching. In the step, the rest workpieces can be matched according to the set quantity, and a plurality of workpieces can be matched as much as possible, so that the teaching efficiency and the blanking efficiency are improved. In the subsequent matching process, the workpiece to be matched cannot be overlapped with the contour line of the matched workpiece in a crossing way, otherwise, the matching failure is judged. After the matching is completed, the residual suction piece cannot grasp the residual workpiece any more, the matching teaching can be temporarily ended, a storage program enters a discharging teaching link, new teaching steps can also be continuously added, and the above processes are repeated until the teaching of all the workpieces in the current trepanning template is completed. In particular, when a set of reclaiming data is taught, a cancellation operation may also be performed on matched workpieces or suction cups in the data. If the workpiece model is carelessly taught, the workpiece model in the teaching result can be selected to be deleted and taught again. The same sucker is also possible that the sucker is just positioned at the edge of a workpiece, and the sucker can be independently selected for cancellation even if other workpieces are sucked in actual use. In the manual participation teaching link, the teaching process still needs to be rechecked, so that the teaching process is prevented from being inconsistent with the conditions.
In some embodiments, referring to fig. 2, the following steps are further included before performing step S20:
s11, setting a material taking model, and adjusting the number and the spacing of the sucking pieces in the material taking model.
Referring to fig. 7, in order to adapt to workpieces with irregular shapes, a material taking model generally adopts dense lattice type suction pieces, the suction pieces are uniformly distributed according to a certain interval, and of course, the suction pieces can also be made into irregular distribution, the practicality is the main, each suction piece is independently controlled, and the material taking model can be automatically selected according to the workpieces and a jacking template, or can be manually set. The new suction piece can be built, the row number, the column number and the distance of the suction piece and the diameter of the suction piece are input, an initial material taking model is automatically generated, the corresponding suction piece modification position can be dragged or the selected suction piece can be moved for fine adjustment by a set distance, and the suction piece is stored in a material taking model library after the setting is finished for the call of a follow-up link. Each suction piece corresponds to a number, and the material taking model library can store a plurality of different material taking models so as to adapt to different blanking scenes. The suction component is a mechanical entity for grabbing a workpiece during loading and unloading, and the material taking model is a virtual model of the suction component. The parameters of the available suction elements (suction element row, column number and spacing, and suction element diameter size) can be directly imported into the software to generate the corresponding actual available pick-out model. It will be appreciated that in actual use, each suction member has two pairs of conditions, the first pair comprising an extended condition and a retracted condition; the second pair of states includes a suction state and a release state, and the software teaching results will record state data respectively.
In some embodiments, referring to fig. 3, after performing step S30, the following steps are further included:
s41, calling out the workpiece model and placing the workpiece model into a blanking area to generate a blanking scheme; in this step, the blanking area may be set automatically or manually. Referring to fig. 9, after the material taking teaching is completed, a material discharging teaching window is called out, and the length and width range of a material discharging area or a stacking table and position information thereof are set. Selecting all the workpieces taught in the material taking program, selecting one or more workpieces, and newly adding a first round of material discharging. And calling the selected workpiece in the blanking area, dragging the workpiece model to any position of the blanking area by taking the center point of the workpiece model as a reference, and rotating the workpiece model by an angle to adjust the gesture of the workpiece model in the blanking area. In this step, the same workpiece can be put in the same position. After the workpiece placing position is confirmed, a discharging teaching result and a discharging scheme are correspondingly generated by the discharging teaching window. The X, Y coordinates of the center of the material taking model relative to the origin of the material discharging area and the rotation angle of the material taking model are recorded, and the number of the matched suction piece and the use state information of the suction piece are recorded.
S42, forming a blanking program based on the material taking program, the blanking scheme and the actual coordinates of the blanking area. In the step, the material taking program is provided with actual position information and angle information of each workpiece in single-round material taking teaching. Based on the actual coordinates of the blanking area, X, Y coordinates of the center of the material taking model relative to the origin of the blanking area and the rotation angle of the material taking model in the blanking scheme, the actual coordinates and rotation angle of the material taking model relative to the blanking area during blanking can be obtained, corresponding material taking path information can be generated based on the actual position information and the angle information during feeding teaching and blanking teaching of the material taking model, and the blanking program can be obtained by combining the information such as the motion state and the vacuum state (or coil power-on state) of the suction piece during the feeding teaching. And assuming that the workpiece is still not subjected to the discharging teaching in the current material taking program, continuously adding the discharging data, and selecting the rest workpiece discharging teaching to generate a new discharging program until all the workpiece teaching in the material taking program is completed. Of course, the blanking teaching can be directly carried out on all corresponding workpiece models in the blanking template after the blanking template is generated, and particularly, the blanking sequence of the workpieces in the blanking stage is executed according to the matched workpieces in the suction assembly in the material taking program.
Of course, when the material taking path information is generated, a certain limitation is also required to be carried out on the material taking path, and specifically, one or more transition points are set; the transition point is set according to the actual environment in order to prevent collisions with other devices or objects. In the movement command of the manipulator, since the path from the start point to the end point is indefinite without setting the intermediate point, a transition point is inserted between the start point and the end point, and the distance between the points is shortened, which corresponds to obtaining a relatively definite movement path. The step of positioning the transition point can be omitted if the distance between the material grabbing position and the material placing position is short and no object is interfered in the middle.
Referring to fig. 6, after teaching is completed, a teaching information document is output, and a user side can identify information in the document and obtain corresponding data. All rounds=3 indicates that the current sorting and blanking process of the processing task needs to be divided into three rounds, for example, all the material taking and discharging data in the material taking result 1 are the data of the first round. Round 1 indicates that the following data is the first Round of data, takeapartnum=1 indicates that the first Round of sorting and blanking needs to Take 1 time, putapartnum=2 indicates that the first Round of sorting and blanking needs to Take 2 times, take 1 indicates that the following data is the 1 st Round of data that takes, put 1 indicates that the following data is the 1 st Round of data that takes, and so on. PosX and PosY are coordinates of the center position of the material taking model, and Angle is the rotation angle of the material taking model around the center. Valve_select indicates which suction members match to the workpiece in the teaching, and also represents the telescopic state of the suction members, and the suction members are expressed in binary, 1 is extended, 0 is retracted, all suction members form a binary number with a plurality of digits, and then the binary number is converted into decimal representation, for example: the material taking model has 16 sucking pieces, the 1 st sucking piece is represented by the 0 th bit of 16-bit binary number, the 16 th sucking piece is represented by the 15 th bit of binary number, and when the 1 st, 2 nd, 5 th, 6 th, 9 th and 10 th sucking pieces match with the workpiece, valve_select=819. Valve_work indicates which suction member grips or releases the workpiece in the teaching, and also represents the suction and release state of the suction member, and is also represented by binary, 1 is gripping, and 0 is releasing. All the suction elements form a binary number with a plurality of digits, and are converted into decimal representation. Binary is: 2#0000001100110011; decimal system is: 10#819.
Assuming that the machining origin position of the machining device is (X1, Y1), the current task reclaiming teaching position is posx=x2, posy=y2, the manipulator center position is (X3, Y3), and if the machining origin coincides with the manipulator center, that is, x1=x3, y1=y3, the manipulator grabbing position x=x3+x2, y=y3+y2; if the machining origin does not coincide with the center of the manipulator and the machining format is within the stroke range of the manipulator, then x=x1-x3+x2, y=y1-y3+y2; if the machining origin is not coincident with the center of the manipulator and the machining width is not within the forming range of the manipulator, a conveying process is required after the workpiece is machined, and the conveying distance of the workpiece to the manipulator direction is set to be X4 and Y4, then X=x1-X4-x3+x2 and Y=y1-y4-y3+y2. The above is only an example of the link data processing, and there are different data processing methods according to the layout, the stroke, and the control method of the actual processing equipment and the manipulator, and only the procedure requiring one data processing from the teaching of the software to the execution of the manipulator will be described.
The embodiment of the application also provides a blanking teaching device, referring to fig. 5, the blanking teaching device comprises:
the nesting module 10 is used for typesetting based on the workpiece drawing and the material plate model to generate a nesting template; referring to fig. 10, drawing information of various workpieces to be cut, processing number information of each workpiece and specification information of a material plate are imported, a material plate model is automatically built according to the specification information of the material plate, each workpiece is automatically typeset on the material plate model, a sleeve material template is formed, and the sleeve material template is formed by attaching typeset workpiece contour lines on the material plate model, so that materials of the material plate can be utilized to the maximum extent, and the utilization rate is improved.
The teaching module 20 is used for matching the material taking model with the workpiece model on the trepanning template to generate a matching scheme; referring to fig. 7, the material taking mold may be a mold of a suction assembly for sucking a workpiece, which includes a mounting frame and suction members provided on the mounting frame, and a center of the mounting frame may be regarded as a center of the material taking mold. Referring to fig. 8, the material taking model and the workpiece model are overlapped along the direction perpendicular to the material sucking model and the workpiece model, and when the material taking model has the sucking piece in the contour line of the workpiece model, the matching is successful. The matching process can be automatic matching or manual matching, namely dragging the material taking model to move or dragging the workpiece to move in an operation interface so as to finish matching. Before the matching is confirmed, the gesture of the workpiece model and the material taking model can be adjusted. After confirming the match, a match result is generated. The matching result comprises coordinate values of the center of the material taking model relative to the workpiece model, the angle relation of the material taking model relative to the workpiece model and the number of the suction piece matched with the target workpiece. In fig. 8, the green line portion is a take-out pattern in which yellow highlighted circles represent matched pickups.
The teaching module 20 is further configured to form a material taking program based on the actual coordinates of the material plate and the matching scheme; the actual coordinate information of the material plate is obtained through a visual identification positioning or capacitance edge searching mode, the actual coordinate information of the contour line of the material plate and the actual coordinate information of the processing origin are determined, and the endpoint of one point of the material plate can be selected by the processing origin. Referring to fig. 10, the processing origin positions the end point of the lower left corner of the web. Fitting the contour line of the jacking template on a material plate to form coordinate information of contour lines of all workpieces and coordinate information of the workpieces. Based on the coordinate value of the material taking model center relative to the trepanning template, the angle relation of the material taking model relative to the trepanning template and the actual coordinate information of the material plate in the matching result, the actual position information and the angle information of the material taking model, namely the first position information and the first angle information, can be obtained when material is taken. After the matched material taking model is confirmed, simulating the process of feeding and grabbing the workpiece by the manipulator, and teaching to generate a material taking program. The material taking program comprises position information of each target workpiece, first position information and first angle information of a corresponding suction piece model, manipulator posture information, suction piece use state information and material taking path information.
In the blanking teaching device provided by the application, the nesting module can typeset the material plates to generate the nesting template; the teaching module is used for matching the material taking model according to the position information of the material plate and the trepanning template to generate a material taking program. After the teaching of nesting and taking materials is completed, the material plate can be cut, then the manipulator is driven to complete the material taking procedure, and the workpiece is placed in a set area. Need not to carry out artifical teaching to every work piece, promoted unloading efficiency greatly, be fit for flexible production.
In some embodiments, referring to fig. 5, the teaching module 20 is further configured to: and adjusting the angular relationship and the position relationship between the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value. Referring to fig. 8, when the number of suction pieces in the contour line of the workpiece is equal to or greater than the set minimum number of suction pieces, the matching of the workpiece is successful, and the contour of the workpiece turns red at this time, indicating that the workpiece can be gripped by the suction pieces. When the angle of the material taking model is not proper, the material taking model can be adjusted by rotating and/or moving so as to achieve a better position and angle. By limiting the number of suction members, it is ensured that the suction force of the suction members is sufficient to suck the work pieces during suction, and that the work pieces do not fall off even if one or more of the work pieces fails. And determining the number information and the state information of the suction piece corresponding to the workpiece model. In the teaching process, corresponding suction procedures are formed, and for each workpiece, the suction piece corresponding to the workpiece is driven to extend out to be in butt joint with the workpiece. The suction member may be a suction cup whose state is a suction state to establish a negative pressure. Of course, the suction piece can also adopt a magnetic suction mode, a coil is wound on the periphery of the suction piece, and the coil is electrified to generate electromagnetic force of the suction piece so as to suck the workpiece.
It will be appreciated that the set values in this step may be the same fixed value for all the workpieces, although different set values may be provided for different workpieces, the size of the particular set value being determined by the weight of the workpiece. The teaching module 20 is further configured to obtain a weight value of the workpiece model according to an area enclosed by a contour line of the workpiece model in the nesting template, and a thickness and a density of the workpiece model; and calculating the numerical value of the suction piece required to be matched by the workpiece model according to the weight value and the suction value of the single suction piece, wherein the numerical value is the set value. The ratio of the resultant force value of the suction force values of the suction members to the weight value of the workpiece model is in the range of 1.2-2. Of course, the ratio also considers the acceleration of the manipulator in the material taking process, and the resultant force value is larger than the resultant force of the gravity of the workpiece model and the driving force corresponding to the acceleration of the workpiece when the manipulator is in carrying.
In some embodiments, referring to fig. 5, the teaching module 20 is further configured to: marking the contour line of the workpiece model matched with the material taking model and the suction piece corresponding to the workpiece model; and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
In this step, it is assumed that the spare suction member of the current material taking model may also grasp the remaining workpiece, and new material taking data may be continuously added in the material taking program to perform material taking teaching on other workpieces. At this time, the matched suction piece in the material taking model can not be used any more, and the matched workpiece model can be displayed. Of course, the target workpiece in the teaching can be the same workpiece processed in the same batch on the material plate, or can be other workpieces processed in the same batch on the material plate and different from the workpiece in the first teaching. In the step, the rest workpieces can be matched according to the set quantity, and a plurality of workpieces can be matched as much as possible, so that the teaching efficiency and the blanking efficiency are improved. In the subsequent matching process, the workpiece to be matched cannot be overlapped with the contour line of the matched workpiece in a crossing way, otherwise, the matching failure is judged. After the matching is completed, the residual suction piece cannot grasp the residual workpiece any more, the matching teaching can be temporarily ended, a storage program enters a discharging teaching link, new teaching steps can also be continuously added, and the above processes are repeated until the teaching of all the workpieces in the current trepanning template is completed.
In some embodiments, referring to fig. 5, the teaching module 20 is further configured to set a pick-up model, and adjust the number and spacing of pick-up members in the pick-up model. Referring to fig. 7, in order to adapt to workpieces with irregular shapes, a material taking model generally adopts dense lattice type suction pieces, the suction pieces are uniformly distributed according to a certain interval, and of course, the suction pieces can also be made into irregular distribution, the practicality is the main, each suction piece is independently controlled, and the material taking model can be automatically selected according to the workpieces and a jacking template, or can be manually set. The new suction piece can be built, the row number, the column number and the distance of the suction piece and the diameter of the suction piece are input, an initial material taking model is automatically generated, the corresponding suction piece modification position can be dragged or the selected suction piece can be moved for fine adjustment by a set distance, and the suction piece is stored in a material taking model library after the setting is finished for the call of a follow-up link. Each suction piece corresponds to a number, and the material taking model library can store a plurality of different material taking models so as to adapt to different blanking scenes. The suction component is a mechanical entity for grabbing a workpiece during loading and unloading, and the material taking model is a virtual model of the suction component. The parameters of the available suction elements (suction element row, column number and spacing, and suction element diameter size) can be directly imported into the software to generate the corresponding actual available pick-out model.
In some embodiments, referring to fig. 5, the teaching module 20 is further configured to call out the workpiece model and place the workpiece model into a blanking area to generate a blanking scheme; in this step, the blanking area may be set automatically or manually. Referring to fig. 9, after the material taking teaching is completed, a material discharging teaching window is called out, and the length and width range of a material discharging area or a stacking table and position information thereof are set. The teaching module 20 can automatically generate a blanking program according to the information. When heat can also be used for personalized teaching, selecting all the workpieces taught in the material taking program, selecting one or more workpieces, and newly adding a first round of material discharging. And calling the selected workpiece in the blanking area, dragging the workpiece model to any position of the blanking area by taking the center point of the workpiece model as a reference, and rotating the workpiece model by an angle to adjust the gesture of the workpiece model in the blanking area. In this step, the same workpiece can be put in the same position. After the workpiece placing position is confirmed, a discharging teaching result and a discharging scheme are correspondingly generated by the discharging teaching window. The X, Y coordinates of the center of the material taking model relative to the origin of the material discharging area and the rotation angle of the material taking model are recorded, and the number of the matched suction piece and the use state information of the suction piece are recorded.
And forming a blanking procedure based on the material taking procedure, the blanking scheme and the actual coordinates of the blanking area. In the step, the material taking program is provided with actual position information and angle information of each workpiece in single-round material taking teaching. Based on the actual coordinates of the blanking area, X, Y coordinates of the center of the material taking model relative to the origin of the blanking area and the rotation angle of the material taking model in the blanking scheme, the actual coordinates and rotation angle of the material taking model relative to the blanking area during blanking can be obtained, corresponding material taking path information can be generated based on the actual position information and the angle information during feeding teaching and blanking teaching of the material taking model, and the blanking program can be obtained by combining the information such as the motion state and the vacuum state (or coil power-on state) of the suction piece during the feeding teaching. And assuming that the workpiece is still not subjected to the discharging teaching in the current material taking program, continuously adding the discharging data, and selecting the rest workpiece discharging teaching to generate a new discharging program until all the workpiece teaching in the material taking program is completed. Of course, the blanking teaching can be directly carried out on all corresponding workpiece models in the blanking template after the blanking template is generated, and particularly, the blanking sequence of the workpieces in the blanking stage is executed according to the matched workpieces in the suction assembly in the material taking program.
The embodiment of the application also provides a storage medium storing a computer instruction program which, when executed by a processor, causes the processor to execute the steps of the method.
The embodiment of the present application also proposes a processing device, referring to fig. 5, where the processing device includes at least one memory 40 and at least one processor, and the memory 40 stores a computer instruction program, where the computer instruction program is executed by the processor, so that the processor executes the steps of the above method. In this embodiment, the above-mentioned memory 40 and the processor form the above-mentioned blanking teaching device, and the processor includes the above-mentioned blanking module 10, teaching module 20, blanking control module 30 and processing control module. The processing equipment further comprises a processing device and a blanking device, wherein the processing device is electrically connected with the processor and is used for processing the material plate, and the blanking device is used for blanking the workpiece. It is noted that the processing equipment may be laser processing equipment for cutting metal plates, or may be woodworking equipment for cutting woodworking plates. The blanking device can be a robot or special blanking equipment.
Referring to fig. 4, the blanking process of the processing apparatus includes the steps of:
s51, controlling the suction assembly to move to the position above the target workpiece; the processing device comprises a manipulator and a suction assembly arranged at the end part of the manipulator, and the material taking model in the teaching step corresponds to the actual suction assembly. The processing device controls the movement of the manipulator based on the position information of the workpiece, and the sucking component is driven by the manipulator, so that the track of the sucking component can be parabolic when the sucking component moves to the position above the target workpiece from the initial position along the material taking path. The coordinate value of the center of the sucking component relative to the processing origin or the material plate and the angle of the sucking component are consistent with the material taking procedure.
S52, controlling the suction piece to move, enabling the suction piece to be in butt joint with the target workpiece and sucking the target workpiece; the blanking control module controls the corresponding suction piece in the suction assembly to extend out and be in butt joint with the target workpiece based on the suction piece number in the material taking model in the program, and negative pressure is built in the corresponding suction piece in the butt joint process so as to suck the target workpiece.
S53, controlling the suction assembly to move along the blanking path, and transferring the target workpiece to a blanking area. After the sucking step is completed, the machining device controls the mechanical arm to move, so that the sucking component and the workpiece move along the discharging track in the procedure and are transferred to the discharging area. At this time, the coordinate value of the center of the material taking model relative to the material discharging origin is consistent with the material discharging program. And then the workpiece is put down, the negative pressure of the corresponding suction piece is relieved and the suction piece is retracted, and the discharging track can be a parabolic track.
The manipulator generally adopts a bus communication mode to interact with third party equipment, so that a plurality of teaching information can be obtained at one time, or the teaching information is updated in real time in the execution process, the process cycle of (1-2-3) grabbing the workpiece-4 transition point positioning-5 unloading position and angle positioning-6 for grabbing the workpiece-4 and retracting the workpiece-7 to the starting point is realized, wherein according to the method disclosed by the application, the sorting and unloading processes of multiple grabbing and multiple unloading, namely (1-2-3) multiplied by n-4- (5-6-7) multiplied by m-8, can be realized. (1-2-3) represents the steps 1, 2 and 3 written above, x n represents the number of times of circulation, then step 4 is executed, namely the moving end of the manipulator is controlled to move to the transition point, and then the steps 5, 6 and 7 are executed, x m represents the number of times of circulation m, and how many work pieces can be subjected to the discharging operation, in particular m times.
The above-mentioned blanking teaching method, the blanking teaching device, the storage medium, and the processing apparatus belong to one general inventive concept, and the contents of the above-mentioned embodiments are mutually applicable. Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, or other media used in embodiments provided herein may include non-volatile and/or volatile memory, etc.
The above description and drawings should not be taken as limiting the scope of the application in any way, but rather should be understood to cover all modifications, structural equivalents, or direct/indirect applications of the application in the light of the general principles of the present application which may be employed in the present application and illustrated by the accompanying drawings.
Claims (12)
1. The blanking teaching method is characterized by comprising the following steps of:
typesetting is carried out based on the workpiece drawing and the material plate model to generate a jacking template;
matching the material taking model with a workpiece model on the trepanning template to generate a matching scheme;
based on the actual coordinates of the web and the matching scheme, to form the take-off program.
2. The method of claim 1, wherein the step of matching the material taking model with the workpiece model on the trepanning template to generate a matching scheme comprises the steps of:
and adjusting the angular relationship and the position relationship between the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value.
3. The method of claim 2, wherein the step of matching the material taking model with the workpiece model on the trepanning template to generate a matching scheme further comprises the steps of:
marking the contour line of the workpiece model matched with the material taking model and the suction piece corresponding to the working model;
and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
4. The method according to claim 1, wherein before the step of matching the material taking model with the workpiece model on the trepanning template, the method further comprises the steps of:
setting a material taking model, and adjusting the number and the spacing of the sucking pieces in the material taking model.
5. The method according to claim 1, wherein the forming the material taking program further comprises the steps of:
transferring the workpiece model and placing the workpiece model into a blanking area to generate a blanking scheme;
and forming a blanking procedure based on the material taking procedure, the blanking scheme and the actual coordinates of the blanking area.
6. A blanking teaching device, characterized by comprising:
the nesting module is used for typesetting based on the workpiece drawing and the material plate model so as to generate a nesting template;
the teaching module is used for matching the material taking model with the workpiece model on the trepanning template to generate a matching scheme;
the teaching module is also used for forming a material taking program based on the actual coordinates of the material plate and the matching scheme.
7. The blanking teaching device of claim 6, wherein the teaching module is further configured to:
and adjusting the angular relationship and the position relationship between the material taking model and the trepanning template to enable the number of the sucking pieces corresponding to the workpiece model to be larger than a set value.
8. The blanking teaching device of claim 6, wherein the teaching module is further configured to:
marking the contour line of the workpiece model which is matched with the material taking model and the suction piece corresponding to the working model;
and matching other workpiece models with other suction pieces on the material taking model, and obtaining the angular relationship and the positional relationship of the material taking model and the trepanning template.
9. The blanking teaching device of claim 6, wherein the teaching module is further configured to:
setting a material taking model, and adjusting the number and the spacing of the sucking pieces in the material taking model.
10. The blanking teaching device of claim 6, wherein the teaching module is further configured to:
transferring the workpiece model and placing the workpiece model into a blanking area to generate a blanking scheme;
and forming a blanking procedure based on the material taking procedure, the blanking scheme and the actual coordinates of the blanking area.
11. A storage medium storing a program of computer instructions which, when executed by a processor, cause the processor to perform the steps of the method of any one of claims 1 to 5.
12. A machining device comprising at least one memory, at least one processor, the memory storing a program of computer instructions which, when executed by the processor, cause the processor to perform the steps of the method of any one of claims 1 to 5.
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| CN118061203A (en) * | 2024-04-22 | 2024-05-24 | 钛玛科（北京）工业科技有限公司 | Robot path optimization control method for coiled material feeding process |
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| CN118061203A (en) * | 2024-04-22 | 2024-05-24 | 钛玛科（北京）工业科技有限公司 | Robot path optimization control method for coiled material feeding process |
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