A trajectory planning method in a walk-cut process

Abstract

The application discloses a kind of trajectory planning methods in edge cutting process, including the following steps: setting with cutter as the origin of Cartesian coordinate system;Setting fabric transmission shaft Z axis movement speed;The origin of Cartesian coordinate system is as Z0 point on Z axis;The coordinate of moving Z0 point is superimposed into Cartesian coordinate system;According to the cutter cutting coordinate in updated Cartesian coordinate system after superposition;According to the cutter cutting coordinate of updating cutting. In the above technical solution, by superimposing the coordinate of Z axis to the feeding direction of Cartesian coordinate system of cutter movement during the movement process of fabric transmission shaft Z axis, the actual coordinate position of X axis is calculated when cutting while walking, and the actual coordinate position of X axis is output to servo for the movement of the origin of Cartesian coordinate system, while the original servo shaft XY positioning coordinate remains unchanged, so as to realize cutting while walking, greatly improve work efficiency under the premise of ensuring cutting quality, and artificially control cutter to repair cutting product after cutting error.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of numerical control cutting, in particular to a trajectory planning method in a cutting-while-walking process. BACKGROUND

[0002] Currently, in some leather cutting, cloth cutting and other industries, the material is often cut according to the needs of production. However, modern people have higher and higher requirements for the cutting process, and in the pursuit of high-quality cutting, they also require high efficiency. For example, cutting out cloth or leather of different shapes, different angles and different lengths, or designing and laying out according to different shapes of cloth or leather to save materials. In many cases, manual cutting by workers is required, which cannot guarantee the quality of cutting and is also low in efficiency. Therefore, cutting machines are born to overcome these defects.

[0003] According to data, numerical control cutting machines are becoming more and more popular in the clothing, home textile and other industries. However, cutting of irregularly shaped sheets (such as real leather) has always been a difficult problem. Currently, in the cutting process of irregularly shaped sheets, the main method is to first identify the contour of the sheet by a contour reading device and then lay out. Then, a projection device is used to project the designed layout and sheet contour on the cutting machine laying area. The sheet contour is aligned with the above projection by manual operation and is conveyed to the cutting area for cutting. However, this cutting process is time-consuming, which greatly limits the industrial production efficiency, and the one-way process is difficult to timely remedy the cutting products.

[0004] Chinese patent document CN104141217B discloses a "fast cutting method for irregularly shaped sheets". The method includes the following steps: 1) marking two marker points on the same surface of the sheet; 2) reading the contour data of the sheet and the coordinates of the two marker points by a data reading device; 3) determining the starting cutting point and its coordinates according to the contour data of the sheet and the sample design scheme; 4) inputting the coordinates of the two marker points and the starting cutting point and the material layout design into the numerical control cutting machine; 5) reading the coordinates of the two marker points on the sheet placed in the cutting area again by a data acquisition device according to the reading order of the two marker point coordinates in step 2); 6) calculating the coordinates of the starting cutting point of the sheet in the numerical control cutting machine according to the coordinates of the two marker points and the starting cutting point in step 2) and the coordinates of the two marker points in step 5); and 7) controlling the cutting knife to cut according to the material layout design. The above technical solution is time-consuming in the cutting process, which greatly limits the industrial production efficiency, and the one-way process is difficult to timely remedy the cutting products. SUMMARY

[0005] The application mainly solves the technical problems of the original technical scheme, that is, the long cutting process greatly limits the industrial production efficiency, and the one-way process is difficult to remedy. The application provides a trajectory planning method in the process of cutting while walking. The cutter cuts based on the X axis and Y axis of the Cartesian coordinate system. The Z axis coordinate is superimposed on the feeding direction of the Cartesian coordinate system of the cutter movement, that is, the X axis of the cutter movement axis, to calculate the actual coordinate position of the X axis during the actual cutting while walking, and the calculated result is output to the servo for movement of the origin of the Cartesian coordinate system. The original servo axis XY positioning coordinate is unchanged, so that the cutting while walking is realized. The working efficiency is greatly improved under the premise of ensuring the cutting quality, and the cutter can be manually controlled to repair the cutting product after cutting error.

[0006] The above technical problems of the application are mainly solved by the following technical scheme: the application comprises the following steps:

[0007] S1 sets the Cartesian coordinate system with the cutter as the origin;

[0008] S2 sets the Z axis movement speed of the fabric conveying shaft;

[0009] S3 sets the origin of the Cartesian coordinate system as the Z0 point on the Z axis;

[0010] S4 superimposes the Z0 point coordinate of the movement into the Cartesian coordinate system;

[0011] S5 updates the cutter cutting coordinate according to the superimposed Cartesian coordinate system;

[0012] S6 cuts according to the updated cutter cutting coordinate.

[0013] As a preferred, the Cartesian coordinate system in the step S1 takes the initial position of the cutter as the origin, and takes the feeding direction as the X axis. The cutter is arranged above the feeding platform, and the fabric is fed through the feeding platform. The cutter movement plane is above the fabric movement plane, and the two are arranged in parallel.

[0014] As a preferred, the step S2 specifically comprises:

[0015] S2.1 first selects the cutting shape;

[0016] S2.2 plans the cutting path of the cutter according to the cutting shape;

[0017] S2.3 counts the time T1 consumed by the cutter in one cutting path;

[0018] S2.4 counts the vertical distance L between the nearest end and the farthest end of the cutting shape in the feeding direction;

[0019] S2.5 sets the Z axis movement speed of the fabric conveying shaft

[0020] As preferred, the step S3 sets the initial Z0 point coordinate as (0, 0) and the Z0 point coordinate after moving t1 as (V1t1, 0). The accurate positioning of the fabric is determined, so as to ensure that the cutting knife realizes accurate cutting while moving along the edge of the fabric.

[0021] As preferred, the step S4 superimposes the moving Z0 point coordinate into the Cartesian coordinate system, i.e. directly replaces the original point value with the Z0 point coordinate (V1t1, 0). The cutting knife and the fabric on the fabric conveying shaft remain relatively static, so as to ensure accurate cutting of the cutting knife.

[0022] As preferred, the step S5 updates the cutting knife cutting coordinate, directly superimposes (V1t1, 0) on the original cutting knife cutting coordinate (x0, y0), and obtains the updated cutting knife cutting coordinate (x1=x0+V1t1, y1). The cutting knife cuts according to the updated cutting knife cutting coordinate (x1=x0+V1t1, y1), so as to ensure that the cutting knife realizes accurate cutting while moving along the edge of the fabric.

[0023] As preferred, the step S6 returns the cutting knife to the initial position of the cutting knife after cutting according to the updated cutting knife cutting coordinate, and cuts the next cutting shape. Returning to the initial position of the cutting knife, i.e. returning to the forefront of the cutting knife moving range, which is exactly the uncut part.

[0024] The beneficial effects of the present application are that the cutting knife cuts according to the X axis and Y axis of the Cartesian coordinate system, the coordinate of the Z axis is superimposed into the feeding direction of the Cartesian coordinate system of the cutting knife movement, i.e. the X axis of the cutting knife movement axis, the actual coordinate position of the X axis during actual cutting while moving along the edge is calculated, and the output is given to the servo for moving the origin of the Cartesian coordinate system, while the original servo axis XY positioning coordinate remains unchanged, so as to realize cutting while moving along the edge, greatly improve the work efficiency under the premise of ensuring the cutting quality, and manually control the cutting knife to repair the cutting product after cutting error. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a flowchart of the present application. DETAILED DESCRIPTION

[0026] The technical solutions of the present application will be further specifically described below by examples in combination with the drawings.

[0027] Embodiment: A trajectory planning method in the cutting while moving along the edge process of the present embodiment, as shown in Figure 1 , includes the following steps:

[0028] S1 sets the Cartesian coordinate system with the cutter as the origin, the Cartesian coordinate system takes the initial position of the cutter as the origin, and the X-axis is the feeding direction. The cutter is arranged above the feeding platform, and the fabric is fed through the feeding platform. The cutter moving plane is above the fabric moving plane, and the two are arranged in parallel.

[0029] S2 sets the Z-axis movement speed of the fabric conveying shaft, specifically including:

[0030] S2.1 first selects the cutting shape;

[0031] S2.2 plans the cutting path of the cutter according to the cutting shape;

[0032] S2.3 counts the time T1 consumed by the cutter for one cutting path;

[0033] S2.4 counts the vertical distance L between the nearest end and the farthest end of the cutting shape in the feeding direction;

[0034] S2.5 sets the Z-axis movement speed of the fabric conveying shaft

[0035] S3 takes the origin of the Cartesian coordinate system as Z0 point on the Z-axis, sets the initial Z0 point coordinate as (0, 0), and sets the Z0 point coordinate after moving t1 as (V1t1, 0). Determine the accurate positioning of the fabric, so as to ensure that the cutter realizes accurate cutting while walking during the movement of the fabric.

[0036] S4 superimposes the moving Z0 point coordinate into the Cartesian coordinate system, that is, directly replaces the origin value with the Z0 point coordinate (V1t1, 0). Make the cutter and the fabric on the fabric conveying shaft keep relative stillness, so as to ensure the accuracy of the cutter cutting.

[0037] S5 updates the cutter cutting coordinates according to the superimposed Cartesian coordinate system, updates the cutter cutting coordinates, directly superimposes (V1t1, 0) on the original cutter cutting coordinates (x0, y0), and obtains the updated cutter cutting coordinates (x1=x0+V1t1, y1). The cutter cuts according to the updated cutter cutting coordinates (x1=x0+V1t1, y1), so as to ensure that the cutter realizes accurate cutting while walking during the movement of the fabric.

[0038] S6 cuts according to the updated cutter cutting coordinates, and after cutting, the cutter returns to the initial position of the cutter for cutting of the next cutting shape. Return to the initial position of the cutter, that is, to the front end of the cutter moving range, which is exactly the uncut part.

[0039] The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or changes in addition or substitution to the described specific embodiments can be made by those skilled in the art without departing from the spirit of the application or exceeding the scope of the appended claims.

[0040] Although the terms fabric transfer shaft, cutter cutting coordinates, and the like are used herein, the possibility of using other terms is not excluded. The use of these terms is merely for the convenience of describing and explaining the essence of the application; any interpretation of them as an additional limitation is contrary to the spirit of the application.

Claims

1. A method for trajectory planning in a cut-while-walk process, characterized by, The method comprises the following steps: S1: setting a Cartesian coordinate system with the cutter as the origin; the Cartesian coordinate system takes the initial position of the cutter as the origin and takes the feeding direction as the X axis, and the cutter is arranged above the feeding platform, and the fabric is fed through the feeding platform; S2: setting the movement speed of the fabric conveying shaft Z axis; The step S2 selects the cutting shape; According to the cutting shape, the cutting path of the cutter is planned, the time T1 consumed by the cutter for one cutting path is counted, the vertical distance L between the nearest end and the farthest end of the cutting shape in the feeding direction is counted, and the movement speed V1 of the fabric conveying shaft Z axis is set to be less than L / T1; S3: taking the origin of the Cartesian coordinate system as the Z0 point on the Z axis; S4: superimposing the coordinates of the moving Z0 point into the Cartesian coordinate system; calculating the actual coordinate position of the X axis during actual cutting while walking, and outputting to the servo for movement of the origin of the Cartesian coordinate system, while the original servo shaft XY positioning coordinates remain unchanged; S5: updating the cutter cutting coordinates according to the superimposed Cartesian coordinate system; S6: cutting according to the updated cutter cutting coordinates.

2. The trajectory planning method in a trim while you fly process of claim 1, wherein, The step S3 sets the initial Z0 point coordinates to (0, 0), and the Z0 point coordinates after moving t1 to (V1t1, 0).

3. The method of claim 2, wherein, The step S4 superimposes the coordinates of the moving Z0 point into the Cartesian coordinate system, that is, directly replaces the origin value with the Z0 point coordinates (V1t1, 0).

4. The trajectory planning method in a process of cutting while walking according to claim 2 or 3, characterized in that, The step S5 updates the cutter cutting coordinates, directly superimposes (V1t1, 0) on the original cutter cutting coordinates (x0, y0), and obtains the updated cutter cutting coordinates (x1=x0+V1t1, y1).

5. The method of claim 1, wherein, After the step S6 cuts according to the updated cutter cutting coordinates, the cutter returns to the initial position of the cutter for cutting of the next cutting shape.

6. The method of claim 1, wherein, The cutter movement plane of the step S1 is arranged above the fabric movement plane in parallel.

7. The method of claim 5, wherein, The return to the initial position of the cutter refers to the return to the front end of the cutter movement range, which is exactly the uncut part.

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