State planning method of matrix suckers based on various complex sheet metal parts

Abstract

The invention relates to the field of state planning of matrix suckers, in particular to a state planning method of a matrix sucker based on various complex sheet metal parts. The state planning method comprises the following specific steps that S1, preconditions are provided; S2, an image is obtained by a camera; S3, the size range of a screw rod is calculated; S4, the positions of all the singlesuckers are calculated; S5, the possible range thetas of the rotation angle between the matrix suckers and the workpiece is selected; S6, some points are selected from the matrix suckers as key points, and the points can be used for judging the position relation between the whole suckers and a certain outline; S7, key point positions of the matrix suckers are calculated; S8, the key points are judged; S9, the list1 is emptied; S10, whether traversal of the thetas is completed or not is judged; S11, whether the size of the lead screw is traversed or not is judged; S12, the suckers corresponding to the longest list in the list2 are numbered; and S13, num is judged.

Description

technical field [0001] The invention relates to the field of state planning of matrix suction cups, in particular to a method for state planning of matrix suction cups based on various complex sheet metal parts. Background technique [0002] Chinese Invention Patent No. 206512234U discloses a flexible leather slicing and cutting device. Chinese Invention Patent No. 206512234U writes that because the flexible leather material has many styles and large sizes, a matrix suction cup with a specification of 2*3 is used, and the switch is independently controlled. , search the leather slices in the area under the suction cup fixture one by one according to the outline shape category, and turn on the suction cups in the boundary of the leather slices that need to be collected, and keep the other suction cups in the matrix closed. The outline of the flexible leather material in the Chinese invention patent No. 206512234U refers to the outer outline, there is no inner outline, and the...

AI Technical Summary

Problems solved by technology

Because sheet metal parts not only have many styles, but also have complex structures, not only external contours, but also various complex internal contours. It is obviously unreasonable to judge whether the suction cup is opened based on the external contours alone; and the sheet metal parts are not only large in size, but also heavy in weight. Large, it is obviously not feasible to use only 2*3 matrix suction cups

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