Packaging method and device for numerical control equipment, electronic equipment and storage medium

Abstract

The present invention discloses a packaging method for numerical control equipment and its device, electronic equipment and storage medium, wherein the packaging method comprises: determining the horizontal plane where the equipment to be packaged is located and the height of the equipment, determining the travel route of a preset transport vehicle based on the horizontal plane, selecting a target servo electric cylinder based on the equipment height and the workpiece height of a target auxiliary workpiece, controlling the preset transport vehicle to travel along the travel route, and using packaging materials to package the equipment to be packaged. The present invention solves the technical problem in the related art that the efficiency of manual packaging of numerical control equipment is low, which easily leads to uneven surface and inconsistent appearance of the packaged numerical control equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control equipment, and in particular to a packaging method and device for numerical control equipment, an electronic device and a storage medium. Background Art

[0002] At present, CNC equipment (such as CNC machine tools) is an indispensable machine tool for metal cutting. With the rapid development of the industrial era and the advancement of the intelligent manufacturing strategy, the demand for CNC equipment is increasing. For example, CNC machine tools are mainly used for cutting and processing of inner and outer cylindrical surfaces of shaft parts or disk parts, inner and outer conical surfaces of arbitrary cone angles, complex rotating inner and outer curved surfaces, and cylindrical and conical threads. They can also perform processing methods such as grooving, drilling, reaming, reaming and boring, and are widely used.

[0003] With the assembly of CNC equipment completed, packaging becomes an essential step before shipment. In the related art, manual packaging is often used, that is, the outer surface of the CNC equipment is manually wrapped with foam plastic paper. Manual packaging of materials can easily cause uneven foam plastic on the surface of the equipment, that is, the outer periphery after packaging is uneven, and the paint on the surface of the equipment packaged in this way can be easily scratched when unpacking with a sharp knife or other sharp tools.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a packaging method and device, an electronic device and a storage medium for CNC equipment, so as to at least solve the technical problem in the related art that manual packaging of CNC equipment is inefficient and easily leads to uneven surfaces and inconsistent appearances of the packaged CNC equipment.

[0006] According to one aspect of an embodiment of the present invention, a packaging method for numerical control equipment is provided, comprising: determining a horizontal plane where the equipment to be packaged is located and the equipment height; based on the horizontal plane, determining a travel route of a preset transport vehicle; based on the equipment height and the workpiece height of a target auxiliary workpiece, selecting a target servo electric cylinder, wherein the target auxiliary workpiece is used to cover the upper surface of the equipment to be packaged, the target servo electric cylinder is pre-fixed on the preset transport vehicle, and the target servo electric cylinder is used to fix packaging materials; controlling the preset transport vehicle to travel along the travel route, and using the packaging materials to package the equipment to be packaged.

[0007] Optionally, the step of determining the walking route of the preset transport vehicle based on the horizontal plane includes: determining the plane shape of the equipment to be packaged on the horizontal plane; when the plane shape is an irregular shape, constructing a walking trajectory map based on the plane shape, wherein the walking trajectory map is used to convey walking instructions to the preset transport vehicle; or, when the plane shape is a rectangle, determining multiple endpoints at which the preset transport vehicle needs to turn based on the plane shape, and pasting a graphic code on each of the endpoints, wherein the graphic code is used to convey turning instructions to the preset transport vehicle; generating the walking route based on the walking trajectory map or the graphic code.

[0008] Optionally, before selecting the target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece, it also includes: multiplying the equipment height by a preset ratio to obtain a first preset height; determining the auxiliary workpiece whose workpiece height matches the first preset height as the target auxiliary workpiece, wherein the target auxiliary workpiece is pre-fixed on the periphery of the upper end of the equipment to be packaged, and the lower edge line of the target auxiliary workpiece coincides with the upper edge line of the equipment to be packaged.

[0009] Optionally, based on the equipment height and the workpiece height of the target auxiliary workpiece, the step of selecting a target servo electric cylinder includes: adding the equipment height and the workpiece height to obtain a second preset height; determining a servo electric cylinder matching the second preset height as the target servo electric cylinder, wherein the target servo electric cylinder is pre-installed with a cutting device, and the cutting device is used to cut the packaging material.

[0010] Optionally, the steps of controlling the preset transport vehicle to travel along the walking route and using the packaging material to pack the equipment to be packed include: fixing the other end of the packaging material that is not fixed by the target servo electric cylinder at any position on the lower edge line of the equipment to be packed; starting the preset transport vehicle; when the preset transport vehicle scans the walking trajectory diagram, controlling the preset transport vehicle to walk according to the walking instruction conveyed by the walking trajectory diagram; or, when the preset transport vehicle scans the graphic code, controlling the preset transport vehicle to turn according to a fixed direction, wherein the fixed direction is clockwise or counterclockwise; when the target servo electric cylinder rises to a second preset height, stopping the operation of the preset transport vehicle; using a cutting device to cut off the packaging material to complete the packaging of the equipment to be packed.

[0011] Optionally, after starting the preset transport vehicle, it also includes: determining a preset time threshold and checking whether the preset transport vehicle receives the turning instruction; if the preset transport vehicle does not receive the turning instruction, running forward; checking whether the time when the preset transport vehicle stops running reaches the preset time threshold; if the time when the preset transport vehicle stops running reaches the preset time threshold, determining that the packaging materials have been used up, and suspending the operation of the preset transport vehicle until the new packaging materials are reinforced.

[0012] Optionally, after the packaging material is cut off by a cutting device, the method further includes: removing the target auxiliary workpiece; and covering the upper surface of the device to be packaged.

[0013] According to another aspect of an embodiment of the present invention, a packaging device for numerical control equipment is also provided, including: a first determination unit, used to determine the horizontal plane where the equipment to be packaged is located and the equipment height; a second determination unit, used to determine the travel route of a preset transport vehicle based on the horizontal plane; a selection unit, used to select a target servo electric cylinder based on the equipment height and the workpiece height of a target auxiliary workpiece, wherein the target auxiliary workpiece is used to cover the upper surface of the equipment to be packaged, the target servo electric cylinder is pre-fixed on the preset transport vehicle, and the target servo electric cylinder is used to fix packaging materials; a packaging unit, used to control the preset transport vehicle to travel along the travel route, and use the packaging materials to package the equipment to be packaged.

[0014] Optionally, the second determination unit includes: a first determination module, used to determine the plane shape of the equipment to be packaged on the horizontal plane; a first construction module, used to construct a walking trajectory map based on the plane shape when the plane shape is an irregular shape, wherein the walking trajectory map is used to convey walking instructions to the preset transport vehicle; a first pasting module, used to determine a plurality of endpoints at which the preset transport vehicle needs to turn based on the plane shape when the plane shape is a rectangle, and paste a graphic code on each of the endpoints, wherein the graphic code is used to convey turning instructions to the preset transport vehicle; a first generation module, used to generate the walking route based on the walking trajectory map or the graphic code.

[0015] Optionally, the packaging device also includes: a first multiplication module, used to multiply the equipment height by a preset ratio to obtain a first preset height before selecting the target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece; a second determination module, used to determine the auxiliary workpiece whose workpiece height matches the first preset height as the target auxiliary workpiece, wherein the target auxiliary workpiece is pre-fixed on the periphery of the upper end of the equipment to be packaged, and the lower edge line of the target auxiliary workpiece coincides with the upper edge line of the equipment to be packaged.

[0016] Optionally, the selection unit includes: a first accumulation module, used to accumulate the equipment height and the workpiece height to obtain a second preset height; a third determination module, used to determine the servo electric cylinder matching the second preset height as the target servo electric cylinder, wherein the target servo electric cylinder is pre-installed with a cutting device, and the cutting device is used to cut the packaging material.

[0017] Optionally, the packaging unit includes: a first fixing module, used to fix the other end of the packaging material that is not fixed by the target servo electric cylinder at any position on the lower edge line of the equipment to be packaged; a first starting module, used to start the preset transport vehicle; a first walking module, used to control the preset transport vehicle to walk according to the walking instruction conveyed by the walking trajectory diagram when the preset transport vehicle scans the walking trajectory diagram; a first steering module, used to control the preset transport vehicle to turn according to a fixed direction when the preset transport vehicle scans the graphic code, wherein the fixed direction is clockwise or counterclockwise; a first stopping module, used to stop the operation of the preset transport vehicle when the target servo electric cylinder rises to a second preset height; a first cutting module, used to cut the packaging material using a cutting device to complete the packaging of the equipment to be packaged.

[0018] Optionally, the packaging device also includes: a first checking module, used to determine a preset time threshold after starting the preset transport vehicle, and to check whether the preset transport vehicle has received the turning instruction; a first operation module, used to run forward if the preset transport vehicle has not received the turning instruction; a second checking module, used to check whether the duration of the preset transport vehicle's stop operation has reached the preset time threshold; a fourth determination module, used to determine that the packaging materials have been used up and suspend the operation of the preset transport vehicle if the duration of the preset transport vehicle's stop operation has reached the preset time threshold, until the new packaging materials have been reinforced.

[0019] Optionally, the packaging device further comprises: a first unloading module, used for unloading the target auxiliary workpiece after the packaging material is cut off by a cutting device; and a first covering module, used for covering the upper surface of the device to be packaged.

[0020] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned packaging method for numerical control equipment.

[0021] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned packaging method of the numerical control device.

[0022] In the present disclosure, the horizontal plane where the equipment to be packaged is located and the equipment height are determined, based on the horizontal plane, the travel route of the preset transport vehicle is determined, based on the equipment height and the workpiece height of the target auxiliary workpiece, the target servo electric cylinder is selected, the preset transport vehicle is controlled to travel along the travel route, and the equipment to be packaged is packaged with packaging materials. In the present disclosure, the travel route of the preset transport vehicle can be determined according to the horizontal plane where the equipment to be packaged is located, and the appropriate target auxiliary workpiece can be selected according to the equipment height of the equipment to be packaged, and then the target servo electric cylinder is determined according to the equipment height and the selected target auxiliary workpiece, so as to form an automatic packaging device through the preset transport vehicle, the target servo electric cylinder and the target auxiliary workpiece, and complete the automatic packaging of the equipment to be packaged, effectively ensuring that each part of the equipment can be packaged intact and the surface of the packaged equipment is uniform and consistent in appearance, thereby solving the technical problem in the related art that the efficiency of manual packaging of CNC equipment is low, which easily leads to uneven surface and inconsistent appearance of the CNC equipment after packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of an optional packaging method for numerical control equipment according to an embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of an optional automatic cube packing machine tool process according to an embodiment of the present invention;

[0026] Figure 3is a schematic diagram of an optional packaging device for a numerical control device according to an embodiment of the present invention;

[0027] Figure 4 The present invention is a hardware structure block diagram of an electronic device (or mobile device) for a packaging method for numerical control equipment according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] To facilitate those skilled in the art to understand the present invention, some terms or nouns involved in the embodiments of the present invention are explained below:

[0031] AGV (Automated Guided Vehicle, AGV for short) is a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions.

[0032] The servo cylinder is a product that uses a motor and a controller to generate linear motion with a certain thrust.

[0033] It should be noted that the relevant information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. For example, an interface is set between this system and the relevant user or organization. Before obtaining relevant information, it is necessary to send an acquisition request to the aforementioned user or organization through the interface, and obtain relevant information after receiving the consent information fed back by the aforementioned user or organization.

[0034] The present invention proposes a method for automatically packaging CNC equipment, including a control method for an AGV trolley and a servo electric cylinder, which can realize the AGV trolley to move along a preset trajectory of the equipment, and can realize the servo motor to rise at a uniform speed according to a preset speed of the equipment height, effectively ensuring that each part of the equipment can be packaged intact and no packaging materials are wasted, and effectively solving the problems in the related art that the surface of the packaged equipment is uneven, the surface is easily scratched after unpacking, and manual packaging is time-consuming and labor-intensive, and the appearance of the packaged equipment is inconsistent.

[0035] The present invention is described in detail below in conjunction with various embodiments.

[0036] Embodiment 1

[0037] According to an embodiment of the present invention, an embodiment of a packaging method for a numerical control device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 1 is a flow chart of an optional packaging method for a numerical control device according to an embodiment of the present invention, such as Figure 1 As shown, the method comprises the following steps:

[0039] Step S101, determining the horizontal plane where the device to be packaged is located and the height of the device.

[0040] Step S102, based on the horizontal plane, determine the travel route of the preset transport vehicle.

[0041] Step S103, selecting a target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece, wherein the target auxiliary workpiece is used to cover the upper surface of the packaging equipment, the target servo electric cylinder is pre-fixed on a preset transport vehicle, and the target servo electric cylinder is used to fix the packaging material.

[0042] Step S104, controlling the preset transport vehicle to travel along the travel route, and using packaging materials to pack the equipment to be packed.

[0043] Through the above steps, the horizontal plane where the equipment to be packaged is located and the equipment height can be determined, the travel route of the preset transport vehicle can be determined based on the horizontal plane, the target servo electric cylinder can be selected based on the equipment height and the workpiece height of the target auxiliary workpiece, the preset transport vehicle can be controlled to travel along the travel route, and the packaging material can be used to package the equipment to be packaged. In an embodiment of the present invention, the travel route of the preset transport vehicle can be determined according to the horizontal plane where the equipment to be packaged is located, and the appropriate target auxiliary workpiece can be selected according to the equipment height of the equipment to be packaged, and then the target servo electric cylinder can be determined according to the equipment height and the selected target auxiliary workpiece, so as to complete the automatic packaging of the equipment to be packaged by forming an automatic packaging device through the preset transport vehicle, the target servo electric cylinder and the target auxiliary workpiece, effectively ensuring that each part of the equipment can be packaged intact and the surface of the packaged equipment is uniform and consistent in appearance, thereby solving the technical problem that the efficiency of manual packaging of CNC equipment in the related art is low, which easily leads to uneven surface and inconsistent appearance of the CNC equipment after packaging.

[0044] The embodiment of the present invention is described in detail below in combination with the above steps.

[0045] Step S101, determining the horizontal plane where the device to be packaged is located and the height of the device.

[0046] In the embodiment of the present invention, the shape of the equipment to be packaged (such as a CNC machine tool, etc.) can be a cubic shape (in this case, the bottom surface of the equipment to be packaged is a rectangle), or an irregular three-dimensional shape, for example, the bottom surface of the equipment to be packaged is a polygon or a shape composed of smooth arcs. It is necessary to first determine the horizontal plane where the equipment to be packaged is located and the height of the equipment.

[0047] Step S102, based on the horizontal plane, determine the travel route of the preset transport vehicle.

[0048] Optionally, the step of determining the travel route of the preset transport vehicle based on the horizontal plane includes: determining the plane shape of the equipment to be packaged on the horizontal plane; when the plane shape is an irregular shape, constructing a travel trajectory map based on the plane shape, wherein the travel trajectory map is used to convey travel instructions to the preset transport vehicle; or, when the plane shape is a rectangle, determining multiple endpoints at which the preset transport vehicle needs to turn based on the plane shape, and pasting a graphic code on each endpoint, wherein the graphic code is used to convey turning instructions to the preset transport vehicle; generating a travel route based on the travel trajectory map or the graphic code.

[0049] In an embodiment of the present invention, the travel route of the preset AGV trolley (i.e., the preset transport vehicle) can be determined based on the horizontal plane where the bottom surface of the equipment to be packaged is located (i.e., the travel route of the preset transport vehicle is determined based on the horizontal plane). Specifically, the plane shape of the equipment to be packaged on the horizontal plane (i.e., the bottom surface shape of the equipment to be packaged) can be determined first. If the plane shape is an irregular shape (such as a polygon, a circle, etc.), a travel trajectory diagram can be constructed based on the plane shape (i.e., a travel trajectory diagram of the preset transport vehicle can be constructed based on the bottom surface shape of the equipment to be packaged, and the travel trajectory diagram is used to convey travel instructions to the preset transport vehicle).

[0050] If the plane shape is a rectangle, then the multiple endpoints where the preset transport vehicle needs to turn can be determined based on the plane shape, and a graphic code can be pasted on each endpoint (the graphic code is used to convey the turning instruction to the preset transport vehicle). For example, an identification graphic code (such as a QR code, a one-dimensional code, etc.) is pasted on the four endpoints where the AGV needs to turn. Whenever the AGV reads the graphic code, it executes a 90° clockwise or counterclockwise rotation instruction (that is, the graphic code is used to convey the turning instruction to the preset transport vehicle), and starts packing the second edge. Then, based on these graphic codes, the walking route of the AGV can be generated.

[0051] Then the walking route can be generated according to the walking track map or graphic code.

[0052] Optionally, before selecting the target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece, it also includes: multiplying the equipment height by a preset ratio to obtain a first preset height; determining the auxiliary workpiece whose workpiece height matches the first preset height as the target auxiliary workpiece, wherein the target auxiliary workpiece is pre-fixed on the outer periphery of the upper end of the equipment to be packaged, and the lower edge line of the target auxiliary workpiece coincides with the upper edge line of the equipment to be packaged.

[0053] In an embodiment of the present invention, a suitable auxiliary workpiece is selected according to the height h (i.e., the height of the equipment to be packaged). Since a portion of the margin needs to be reserved for fitting and covering the upper surface of the equipment to be packaged when the packaging is near the end using packaging materials (such as foam, plastic, etc.), it is necessary to select an auxiliary workpiece that matches the equipment height h (i.e., the workpiece height of the selected target auxiliary workpiece matches the first preset height, which is obtained by multiplying the equipment height by a preset ratio, for example, the first preset height h0=0.05~0.1h, i.e., the preset ratio can be between 0.05-0.1), and the target auxiliary workpiece can be temporarily fixed to the upper periphery of the equipment to be packaged when in use, so that the lower edge line of the target auxiliary workpiece coincides with the upper edge line of the equipment to be packaged. In this way, when the packaging device runs to the specified height (i.e., the sum of the equipment height h and the workpiece height h0), the target auxiliary workpiece can be unloaded and the upper surface of the equipment to be packaged can be covered and packaged (i.e., the target auxiliary workpiece is used to cover the upper surface of the equipment to be packaged).

[0054] Step S103, selecting a target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece, wherein the target auxiliary workpiece is used to cover the upper surface of the packaging equipment, the target servo electric cylinder is pre-fixed on a preset transport vehicle, and the target servo electric cylinder is used to fix the packaging material.

[0055] Optionally, based on the equipment height and the workpiece height of the target auxiliary workpiece, the step of selecting a target servo electric cylinder includes: accumulating the equipment height and the workpiece height to obtain a second preset height; determining the servo electric cylinder matching the second preset height as the target servo electric cylinder, wherein the target servo electric cylinder is pre-installed with a cutting device, and the cutting device is used to cut the packaging material.

[0056] In an embodiment of the present invention, the target servo electric cylinder can be selected according to the equipment height of the equipment to be packaged, the pre-selected workpiece height of the target auxiliary workpiece and h+h0 (i.e., the target servo electric cylinder is selected based on the equipment height and the workpiece height of the target auxiliary workpiece). Specifically, the equipment height and the workpiece height can be accumulated to obtain a second preset height, and then the servo electric cylinder matching the second preset height is determined as the target servo electric cylinder. The target servo electric cylinder is pre-vertically fixed on the preset transport vehicle (i.e., perpendicular to the plane where the preset transport vehicle is located) and is used to fix the packaging materials. In this way, when the preset transport vehicle runs at a uniform speed on the horizontal plane according to the walking route, the target servo electric cylinder also rises at a uniform speed. By combining the preset transport vehicle with the target servo electric cylinder, the packaging materials can be evenly wrapped in the equipment to be packaged, and the packaged appearance is consistent, so as to realize the spiral automatic packaging of the equipment to be packaged.

[0057] Furthermore, the target servo electric cylinder is pre-installed with a cutting device, which is used to cut the packaging material.

[0058] In this embodiment, a cutting device can be installed according to the stroke of the servo electric cylinder. When the servo electric cylinder reaches the corresponding height (ie h+h0), the cutting device immediately cuts off the packaging material.

[0059] Step S104, controlling the preset transport vehicle to travel along the travel route, and using packaging materials to pack the equipment to be packed.

[0060] Optionally, the steps of controlling a preset transport vehicle to travel along a walking route and using packaging materials to pack the equipment to be packed include: fixing the other end of the packaging material that is not fixed by the target servo electric cylinder at any position on the lower edge line of the equipment to be packed; starting the preset transport vehicle; when the preset transport vehicle scans a walking trajectory diagram, controlling the preset transport vehicle to move according to the walking instructions conveyed by the walking trajectory diagram; or, when the preset transport vehicle scans a graphic code, controlling the preset transport vehicle to turn according to a fixed direction, wherein the fixed direction is clockwise or counterclockwise; when the target servo electric cylinder rises to a second preset height, stopping the operation of the preset transport vehicle; using a cutting device to cut off the packaging material to complete the packaging of the equipment to be packed.

[0061] In an embodiment of the present invention, a portion of the packaging material can be first fixed to the lowest end of the device to be packaged, a small portion can be wrapped around it, and after wrapping, the packaging material can be fixed to the servo electric cylinder (that is, the other end of the packaging material that is not fixed by the target servo electric cylinder is fixed to any position on the lower edge line of the device to be packaged). For example, a portion of foam plastic can be fixed to the lowest end of the device by means of tape, a small portion can be wrapped around it, and after wrapping, the foam plastic can be fixed to the servo electric cylinder.

[0062] Start the AGV trolley and start the packaging process (i.e., start the preset transport vehicle). If the AGV trolley scans the walking trajectory diagram during operation, it can control the preset transport vehicle to move according to the walking instructions conveyed by the walking trajectory diagram. If the AGV trolley scans the graphic code during operation, it will turn according to a fixed direction (i.e., clockwise or counterclockwise), and the clockwise or counterclockwise direction will remain unchanged in the same packaging process. When the target servo electric cylinder reaches the preset height h+h0, the entire process is completed, and the cutting device automatically cuts off the remaining foam plastic on the equipment to be packaged and the cylinder, and the AGV trolley is completed (i.e., when the target servo electric cylinder rises to the second preset height, the preset transport vehicle is stopped; the cutting device is used to cut off the packaging material to complete the packaging of the equipment to be packaged). If the target servo electric cylinder has not reached the height h+h0, the AGV trolley continues to run.

[0063] Optionally, after starting the preset transport vehicle, it also includes: determining a preset time threshold and checking whether the preset transport vehicle receives a turning instruction; if the preset transport vehicle does not receive a turning instruction, running forward; checking whether the time the preset transport vehicle stops running reaches a preset time threshold; if the time the preset transport vehicle stops running reaches the preset time threshold, determining that the packaging materials have been used up, and suspending the operation of the preset transport vehicle until the new packaging materials are reinforced.

[0064] In an embodiment of the present invention, after starting the AGV trolley, it is possible to check in real time whether the AGV trolley has reached the endpoint, that is, the four vertices of the rectangle under the top view of the equipment to be packaged (that is, determine the preset time threshold, and check whether the preset transport vehicle has received the steering instruction). Whenever the AGV trolley reaches the endpoint (that is, the preset transport vehicle receives the steering instruction), the trolley automatically rotates 90° clockwise (or counterclockwise) (clockwise and counterclockwise remain unchanged in the same packaging process) and continues to move forward; if the AGV has not reached the endpoint, the trolley continues to move forward (that is, it moves forward when the preset transport vehicle does not receive the steering instruction). It is also possible to check in real time whether the packaging materials are used up. When the AGV trolley runs out of packaging materials, the AGV trolley needs to reinforce the packaging materials that are now fixed on the equipment to be packaged in time. At the same time, a new roll of packaging materials must be added to the servo electric cylinder before restarting the AGV trolley; if the packaging materials have not been used up, the AGV trolley continues to move forward.

[0065] In an embodiment of the present invention, a method for determining whether the packaging materials are used up can be to check whether the time when the preset transport vehicle stops running reaches a preset time threshold (for example, 1 second). If the time when the preset transport vehicle stops running reaches the preset time threshold, it is determined that the packaging materials are used up (because the servo electric cylinder is located on the preset transport vehicle, and one end of the packaging material is fixed by the servo electric cylinder, and the other end is fixed by the equipment to be packaged. When the packaging materials are used up, the preset transport vehicle will be pulled by the packaging materials and stop running), and the operation of the preset transport vehicle is suspended until the new packaging materials are reinforced.

[0066] Optionally, after the packaging material is cut off by the cutting device, the method further includes: removing the target auxiliary workpiece; and covering the upper surface of the device to be packaged.

[0067] In the embodiment of the present invention, after the packaging material is cut off by the cutting device, the target auxiliary workpiece can be removed, and the excess packaging material above the device to be packaged can be covered and bonded to complete the packaging of the upper surface of the device to be packaged.

[0068] Figure 2 is a schematic diagram of an optional automatic cube packaging machine tool process according to an embodiment of the present invention, such as Figure 2 As shown, the following process is included:

[0069] 1) Preparation:

[0070] (1) According to the length a and width b of the machine tool packaging, the AGV car's travel route is preset, that is, the identification QR code is affixed to the four end points where it needs to turn. Whenever the AGV car reads the QR code, it executes the instruction to rotate 90° clockwise or counterclockwise to start packaging the second side.

[0071] (2) Select appropriate auxiliary workpieces according to the height h of the machine tool. When the foam plastic packaging is near the end, a portion of the margin needs to be reserved to fit and cover the upper surface of the machine tool. Therefore, it is necessary to select an auxiliary workpiece with a height h of h0 = 0.05~0.1h that matches the height h of the machine tool and temporarily fix it to the outer periphery of the upper end of the machine tool when in use. When the packaging device runs to the specified height, remove the auxiliary workpiece and cover the upper surface of the machine tool for packaging.

[0072] (3) Select the servo electric cylinder according to the height of the machine tool, the height of the pre-selected auxiliary workpiece and h+h0, and install the cutting device according to the stroke of the servo electric cylinder. When the servo electric cylinder reaches the corresponding height, the cutting device immediately cuts off the foam plastic.

[0073] (4) First, fix a part of the foam plastic to the lowest end of the machine bed with tape, wrap a small part, and after wrapping, fix the foam plastic to the servo cylinder.

[0074] 2), Operation process:

[0075] (1) Start the AGV and start the packaging process.

[0076] (2) Check in real time whether the AGV has reached the endpoint, that is, the four vertices of the rectangle in the top view of the machine tool. Whenever the AGV reaches a vertex, the trolley automatically turns (that is, automatically rotates 90° clockwise (or counterclockwise)) (the clockwise or counterclockwise rotation remains unchanged in the same packaging process) and continues to move forward. If the AGV has not reached the endpoint, the trolley continues to move forward.

[0077] (3) Check in real time whether the foam plastic is used up. When the trolley stops due to the use of foam, the foam plastic that is now fixed on the machine tool must be reinforced in time. At the same time, a new roll of foam plastic must be added to the servo cylinder and the AGV trolley must be restarted. If the foam plastic on the AGV trolley has not been used up, the trolley will continue to move forward.

[0078] (4) Determine whether the electric cylinder has reached the preset height h+h0. If the electric cylinder has reached the preset height h+h0, the entire packaging process is completed, and the cutting device automatically cuts off the remaining foam plastic on the machine tool and the cylinder. The AGV trolley is completed. If it has not reached h+h0, continue to check whether the AGV trolley has reached the endpoint, and the AGV trolley continues to run.

[0079] 3), end.

[0080] (1) Remove the auxiliary workpiece and complete the packaging of the upper surface of the machine tool.

[0081] In this embodiment, if the same machine tool needs to be packaged multiple times, the above packaging process can be repeated until the quality standard of machine tool packaging is met.

[0082] In the embodiment of the present invention, by controlling the AGV trolley and the servo electric cylinder, the AGV trolley can be moved along the preset trajectory of the equipment, and the servo motor can be raised at a uniform speed according to the preset speed of the equipment height, thereby effectively improving the packaging efficiency, improving the utilization rate of packaging materials, and reducing the probability of scratching the protective paint on the outside of the equipment due to the uneven surface of the equipment caused by manual packaging.

[0083] The following is a detailed description in conjunction with another embodiment.

[0084] Embodiment 2

[0085] A packaging device for a numerical control device provided in this embodiment includes multiple implementation units, and each implementation unit corresponds to each implementation step in the above-mentioned embodiment 1.

[0086] Figure 3 is a schematic diagram of an optional packaging device for a numerical control device according to an embodiment of the present invention, such as Figure 3 As shown, the packaging device may include: a first determining unit 30, a second determining unit 31, a selecting unit 32, and a packaging unit 33, wherein:

[0087] A first determining unit 30 is used to determine the horizontal plane where the equipment to be packaged is located and the height of the equipment;

[0088] A second determining unit 31 is used to determine a travel route of a preset transport vehicle based on a horizontal plane;

[0089] A selection unit 32, configured to select a target servo electric cylinder based on a height of the equipment and a height of a workpiece of a target auxiliary workpiece, wherein the target auxiliary workpiece is used to cover an upper surface of the equipment to be packaged, the target servo electric cylinder is pre-fixed on a preset transport vehicle, and the target servo electric cylinder is used to fix the packaging material;

[0090] The packing unit 33 is used to control the preset transport vehicle to travel along the travel route and pack the equipment to be packed with packing materials.

[0091] The above-mentioned packaging device can determine the horizontal plane where the equipment to be packaged is located and the equipment height through the first determination unit 30, determine the travel route of the preset transport vehicle based on the horizontal plane through the second determination unit 31, select the target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece through the selection unit 3, control the preset transport vehicle to travel along the travel route through the packaging unit 33, and use the packaging material to package the equipment to be packaged. In the embodiment of the present invention, the travel route of the preset transport vehicle can be determined according to the horizontal plane where the equipment to be packaged is located, and the appropriate target auxiliary workpiece can be selected according to the equipment height of the equipment to be packaged, and then the target servo electric cylinder can be determined according to the equipment height and the selected target auxiliary workpiece, so as to form an automatic packaging device through the preset transport vehicle, the target servo electric cylinder and the target auxiliary workpiece, and complete the automatic packaging of the equipment to be packaged, effectively ensuring that each part of the equipment can be packaged intact and the surface of the packaged equipment is uniform and consistent in appearance, thereby solving the technical problem that the efficiency of manual packaging of CNC equipment in the related art is low, which easily leads to uneven surface and inconsistent appearance of the CNC equipment after packaging.

[0092] Optionally, the second determination unit includes: a first determination module, used to determine the planar shape of the equipment to be packaged on a horizontal plane; a first construction module, used to construct a walking trajectory map based on the planar shape when the planar shape is an irregular shape, wherein the walking trajectory map is used to convey walking instructions to a preset transport vehicle; a first pasting module, used to determine a plurality of endpoints where the preset transport vehicle needs to turn based on the planar shape when the planar shape is a rectangle, and paste a graphic code on each endpoint, wherein the graphic code is used to convey turning instructions to the preset transport vehicle; a first generation module, used to generate a walking route based on the walking trajectory map or the graphic code.

[0093] Optionally, the packaging device also includes: a first multiplication module, used to multiply the equipment height by a preset ratio to obtain a first preset height before selecting the target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece; a second determination module, used to determine the auxiliary workpiece whose workpiece height matches the first preset height as the target auxiliary workpiece, wherein the target auxiliary workpiece is pre-fixed on the upper periphery of the equipment to be packaged, and the lower edge line of the target auxiliary workpiece coincides with the upper edge line of the equipment to be packaged.

[0094] Optionally, the selection unit includes: a first accumulation module, used to accumulate the equipment height and the workpiece height to obtain a second preset height; a third determination module, used to determine the servo electric cylinder matching the second preset height as the target servo electric cylinder, wherein the target servo electric cylinder is pre-installed with a cutting device, and the cutting device is used to cut the packaging material.

[0095] Optionally, the packaging unit includes: a first fixing module, used to fix the other end of the packaging material that is not fixed by the target servo electric cylinder at any position on the lower edge line of the equipment to be packaged; a first starting module, used to start a preset transport vehicle; a first walking module, used to control the preset transport vehicle to walk according to the walking instructions conveyed by the walking trajectory diagram when the preset transport vehicle scans the walking trajectory diagram; a first steering module, used to control the preset transport vehicle to turn according to a fixed direction when the preset transport vehicle scans the graphic code, wherein the fixed direction is clockwise or counterclockwise; a first stopping module, used to stop the operation of the preset transport vehicle when the target servo electric cylinder rises to a second preset height; a first cutting module, used to cut the packaging material using a cutting device to complete the packaging of the equipment to be packaged.

[0096] Optionally, the packaging device also includes: a first checking module, used to determine a preset time threshold after starting the preset transport vehicle, and check whether the preset transport vehicle receives a turning instruction; a first operation module, used to run forward when the preset transport vehicle does not receive a turning instruction; a second checking module, used to check whether the time when the preset transport vehicle stops running reaches a preset time threshold; a fourth determination module, used to determine that the packaging materials have been used up and suspend the operation of the preset transport vehicle when the time when the preset transport vehicle stops running reaches a preset time threshold until the new packaging materials are reinforced.

[0097] Optionally, the packaging device further includes: a first unloading module, used to unload the target auxiliary workpiece after the packaging material is cut off by the cutting device; and a first covering module, used to cover the upper surface of the device to be packaged.

[0098] The above-mentioned packaging device may also include a processor and a memory. The above-mentioned first determination unit 30, second determination unit 31, selection unit 32, packaging unit 33, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0099] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the preset transport vehicle can be controlled to travel along the walking route by adjusting kernel parameters, and the packaging material can be used to pack the packaging equipment.

[0100] The above-mentioned memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0101] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: determining the horizontal plane where the equipment to be packaged is located and the equipment height, based on the horizontal plane, determining the travel route of a preset transport vehicle, based on the equipment height and the workpiece height of the target auxiliary workpiece, selecting a target servo electric cylinder, controlling the preset transport vehicle to travel along the travel route, and using packaging materials to package the equipment to be packaged.

[0102] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium including a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned packaging method for numerical control equipment.

[0103] According to another aspect of an embodiment of the present invention, there is also provided an electronic device, comprising one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by one or more processors, the one or more processors implement the above-mentioned packaging method of numerical control equipment.

[0104] Figure 4 1 is a hardware structure block diagram of an electronic device (or mobile device) for a packaging method for numerical control equipment according to an embodiment of the present invention. Figure 4 As shown, the electronic device may include one or more (402a, 402b, ..., 402n are used to illustrate) processors 402 (the processor 402 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), and a memory 404 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a keyboard, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 4 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 4 More or fewer components as shown, or with Figure 4 Different configurations are shown.

[0105] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0106] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0109] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0110] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0111] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A packaging method for numerical control equipment, characterized in that: include: Determine the horizontal plane where the equipment to be packaged is located and the height of the equipment; Based on the horizontal plane, determining a travel route of a preset transport vehicle; Based on the height of the equipment and the height of the target auxiliary workpiece, a target servo electric cylinder is selected, wherein the target auxiliary workpiece is used to cover the upper surface of the equipment to be packaged, the target servo electric cylinder is pre-fixed on the preset transport vehicle, and the target servo electric cylinder is used to fix the packaging material; Control the preset transport vehicle to travel along the walking route, and use the packaging material to pack the equipment to be packed, wherein the other end of the packaging material that is not fixed by the target servo electric cylinder is fixed to any position on the lower edge line of the equipment to be packed; start the preset transport vehicle; when the preset transport vehicle scans a walking trajectory diagram, control the preset transport vehicle to walk according to the walking instructions conveyed by the walking trajectory diagram; or, when the preset transport vehicle scans a graphic code, control the preset transport vehicle to turn according to a fixed direction, wherein the fixed direction is clockwise or counterclockwise; when the target servo electric cylinder rises to a second preset height, stop the preset transport vehicle; use a cutting device to cut off the packaging material to complete the packaging of the equipment to be packed.

2. The packaging method according to claim 1, characterized in that: The step of determining a preset travel route of the transport vehicle based on the horizontal plane comprises: Determining the planar shape of the equipment to be packaged on the horizontal plane; In the case where the plane shape is an irregular shape, a walking trajectory map is constructed according to the plane shape, wherein the walking trajectory map is used to convey walking instructions to the preset transport vehicle; or In the case where the plane shape is a rectangle, a plurality of end points where the preset transport vehicle needs to turn are determined based on the plane shape, and a graphic code is pasted on each of the end points, wherein the graphic code is used to convey a turning instruction to the preset transport vehicle; The walking route is generated based on the walking trajectory diagram or the graphic code.

3. The packaging method according to claim 1, characterized in that: Before selecting a target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece, the following is further included: Multiplying the height of the device by a preset ratio to obtain a first preset height; An auxiliary workpiece whose height matches the first preset height is determined as the target auxiliary workpiece, wherein the target auxiliary workpiece is pre-fixed on the periphery of the upper end of the device to be packaged, and the lower edge of the target auxiliary workpiece coincides with the upper edge of the device to be packaged.

4. The packaging method according to claim 1, characterized in that: The step of selecting a target servo electric cylinder based on the equipment height and the workpiece height of the target auxiliary workpiece includes: Accumulating the height of the equipment and the height of the workpiece to obtain a second preset height; The servo electric cylinder matching the second preset height is determined as the target servo electric cylinder, wherein the target servo electric cylinder is pre-installed with a cutting device, and the cutting device is used to cut the packaging material.

5. The packaging method according to claim 1, characterized in that: After starting the preset transport vehicle, the method further includes: Determine a preset time threshold, and check whether the preset transport vehicle receives a turning instruction; When the preset transport vehicle does not receive the steering instruction, the preset transport vehicle moves forward; Check whether the preset transport vehicle stop operation time reaches the preset time threshold; When the duration of the stoppage of the preset transport vehicle reaches the preset duration threshold, it is determined that the packaging materials have been used up, and the operation of the preset transport vehicle is suspended until the reinforcement of new packaging materials is completed.

6. The packaging method according to claim 1, characterized in that: After the packaging material is cut off by the cutting device, the method further comprises: removing the target auxiliary workpiece; The upper surface of the device to be packaged is covered.

7. A packaging device for numerical control equipment, characterized in that: include: A first determining unit is used to determine the horizontal plane where the equipment to be packaged is located and the height of the equipment; A second determining unit, configured to determine a travel route of a preset transport vehicle based on the horizontal plane; A selection unit, configured to select a target servo electric cylinder based on the height of the equipment and the height of a target auxiliary workpiece, wherein the target auxiliary workpiece is used to cover the upper surface of the equipment to be packaged, the target servo electric cylinder is pre-fixed on the preset transport vehicle, and the target servo electric cylinder is used to fix the packaging material; A packaging unit, used to control the preset transport vehicle to travel along the travel route and use the packaging materials to pack the equipment to be packaged; The packaging unit includes: a first fixing module, used to fix the other end of the packaging material that is not fixed by the target servo electric cylinder at any position on the lower edge line of the equipment to be packaged; a first starting module, used to start the preset transport vehicle; a first walking module, used to control the preset transport vehicle to walk according to the walking instructions conveyed by the walking trajectory diagram when the preset transport vehicle scans a walking trajectory diagram; a first steering module, used to control the preset transport vehicle to turn according to a fixed direction when the preset transport vehicle scans a graphic code, wherein the fixed direction is clockwise or counterclockwise; a first stopping module, used to stop the operation of the preset transport vehicle when the target servo electric cylinder rises to a second preset height; a first cutting module, used to cut the packaging material using a cutting device to complete the packaging of the equipment to be packaged.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute the packaging method for numerical control equipment according to any one of claims 1 to 6.

9. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the packaging method of the numerical control device described in any one of claims 1 to 6.

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