Honeycomb plate automatic cutting method based on flat ultrasonic knife programming machining

Abstract

The application installs a G code interpreter in the controller of a cutting robot; uses computer-aided design software to draw a planar contour graph; uses path drawing software to convert the contour graph into a G code program; inputs a cutting mode and cutting parameters in an input interface in an interface program; runs the interface program, inserts the cutting mode and cutting parameters into the G code program and optimizes the G code program; inputs the G code program into the controller of the cutting robot; places a honeycomb paperboard master plate on a suction platform and suctions and fixes the honeycomb paperboard master plate; starts an ultrasonic cutting knife, and the cutting robot starts to execute a cutting instruction, thereby solving the problem of automatic cutting of a honeycomb paperboard edge bevel.

Description

Technical Field

[0001] This invention relates to the field of automated cutting of honeycomb paperboard, and in particular to an automated cutting method for honeycomb boards based on programming processing with a flat ultrasonic knife. Background Technology

[0002] Honeycomb panels are flat sheet materials with a honeycomb-like structure, typically made of paper, plastic, or metal. Due to their good structural strength and support, as well as their lightweight nature, they are often used as building curtain walls, furniture panels, and even aerospace material linings. The high support of honeycomb panels generally refers to the direction perpendicular to the panel's plane; however, due to their polygonal structure, they possess a certain degree of compressibility in the extended direction of the plane. Therefore, when processing and cutting honeycomb panels, especially honeycomb paperboard, the cutting head must be perpendicular to the panel's thickness to avoid a "splashing" effect similar to that caused by oblique cutting.

[0003] Because some curtain wall and furniture panels have shaped angles on their edges, the honeycomb core panels used as inner lining panels need to be cut at corresponding angles on their edges as well. For paper honeycomb panels, if line laser cutting is used, the cut edges will be scorched, resulting in curled edges or material accumulation. On the other hand, using traditional cylindrical milling cutters to mill layer by layer is not only time-consuming, but the oblique cutting force will also squeeze the panels, causing a chipping phenomenon. In addition, a large number of small fragments will be generated during cutting, polluting the site.

[0004] Therefore, the traditional cutting method involves creating a fixture that can travel in a straight line, with a utility knife fixed to the fixture. After the honeycomb panel motherboard is laid flat and fixed, the utility knife on the fixture is aligned with the corner of the honeycomb panel, and the fixture is pushed by the utility knife to cut the corners. This method is not only labor-intensive, but also prone to local deformation due to the thin walls of the honeycomb structure; even a slightly dull blade can cause this. Another method is to use a flat ultrasonic cutter instead of a utility knife. The high-frequency vibration of the flat ultrasonic cutter effectively reduces cutting resistance. However, due to the numerous and ever-increasing types of panel sizes and edge angles, it is impossible to develop a separate auxiliary fixture for each combination. Summary of the Invention

[0005] This invention provides an automated cutting method for honeycomb panels based on programming with a flat ultrasonic cutter, which solves the problem of automatic cutting of beveled edges of honeycomb paperboard.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: an automated cutting method for honeycomb panels based on programming processing of flat ultrasonic blades, including an adsorption platform for fixing the honeycomb paperboard motherboard, a column on one side of the adsorption platform, a cutting robot on the upper end of the column, and an ultrasonic cutting blade that can deflect along the blade tip on the cutting robot.

[0007] Install a G-code interpreter in the controller of the cutting robot;

[0008] Use computer-aided design software to draw planar outline graphics;

[0009] Use path drawing software to convert outline graphics into G-code programs;

[0010] Enter the cutting mode and cutting parameters in the input interface of the interface program;

[0011] Run the interface program, insert the cutting mode and cutting parameters into the G-code program, and optimize the G-code program;

[0012] Input the G-code program into the controller of the cutting robot;

[0013] Place the honeycomb cardboard motherboard on the adsorption platform for adsorption and fixation;

[0014] The ultrasonic cutting blade is activated, and the cutting robot begins executing the cutting commands.

[0015] The preferred solution includes G-code program optimization methods:

[0016] Load G code using an interface program;

[0017] According to the rules of the cutting robot's G-code interpreter, redundant code in the original G-code program was removed, and the cutting parameters were modified.

[0018] Modify the starting point of the drawing space coordinate system and the starting point of the cutting robot's coordinate system to be consistent;

[0019] Identify points of direction change in the cutting path and insert corner command code at these points;

[0020] Copy the optimized contour cutting code, identify the cutter entry and cutter exit commands in the code, add intermediate transition point coordinates, and write it as a corner cutting program code;

[0021] Add chamfer angle and depth values ​​to the chamfering program code;

[0022] The entire corner-cutting code is inserted after the contour-cutting code to form a complete optimized G-code.

[0023] The preferred solution includes a method for inserting corner codes:

[0024] Load G code using an interface program;

[0025] The initial X and Y coordinates of the cutting tip are set based on the cutting tip coordinates when the cutting robot resets.

[0026] Use regular expressions to search the code line, match the value following the first X character and the value following the first Y character. The direction of the line connecting this coordinate point and the initial coordinate point is the initial direction of the blade. Calculate the angle of this direction and insert the initial turning angle code.

[0027] Continue searching the subsequent lines. When a new X or Y character appears, calculate the slope of the line connecting it to the previous coordinate point and determine the difference between that angle and the previous blade angle.

[0028] Insert the code to raise the knife before this line;

[0029] Insert the cornering code after the knife-raising code, with the value being the difference mentioned above;

[0030] Insert the cutting procedure after the corner code line.

[0031] The preferred solution includes a method for transmitting the chamfer angle value:

[0032] Define the M function block in the controller of the cutting robot;

[0033] Load G code using an interface program;

[0034] Search the G-code to find the chamfer angle value entered by the user;

[0035] The controller of the cutting robot reads the cutting angle setting value from the G-code;

[0036] Convert the tangent angle measurement into BCD code format;

[0037] Two M codes are used to represent one bit of the BCD code, and the start M code and end M code of transmission are inserted before and after the M code string representing the BCD code, respectively.

[0038] Insert the M-code indicating the start of execution after the above M-code string;

[0039] The controller of the cutting robot executes G-code and sends an M-code string to the PLC that controls the deflection of the ultrasonic cutting blade;

[0040] The PLC receives the M code string representing BCD code and restores the BCD code to decimal value through a pre-programmed decoding program.

[0041] The PLC receives the M code to start execution and controls the actuator to deflect the ultrasonic cutting blade along the blade tip by a set degree.

[0042] The preferred solution includes a method for determining the coordinates of the intermediate transition point in the chamfering process:

[0043] Load G code using an interface program;

[0044] Recognizes already added cut-down and cut-up commands;

[0045] Use regular expressions to search for G-code and read the chamfer angle value, depth value, and set safety plane height value;

[0046] Use regular expressions to search for G-code and read the X, Y, and Z coordinates of the next target;

[0047] The current angle orientation of the ultrasonic tool is determined by matching the numerical value after the character "A" between the down and up commands using regular expressions.

[0048] The chamfer angle, chamfer depth, and the height of the safety plane from the target point are all known. The horizontal distance between the intermediate transition point and the target point can be calculated using trigonometric functions.

[0049] Since the target point's X and Y values ​​and the tool's current horizontal rotation angle are known, the coordinates of the intermediate transition point are calculated based on the horizontal distance.

[0050] In a preferred embodiment, a cutting blade deflector is also included. The cutting blade deflector includes a sliding plate and an arc-shaped plate arranged in parallel. A fixed sleeve is provided on the sliding plate, and the ultrasonic cutting blade is mounted on the sliding plate through the fixed sleeve. The arc-shaped plate is provided with multiple arc-shaped grooves, and an arc-shaped rack is also provided on one side of the arc-shaped grooves. A rotatable traveling wheel is provided on the side of the sliding plate near the arc-shaped plate. The traveling wheel rolls in the arc-shaped grooves. A drive motor is also provided on the sliding plate, and a gear is provided at the end of the drive motor shaft. The gear meshes with the arc-shaped rack.

[0051] In a preferred embodiment, the adsorption platform is provided with multiple adsorption fixtures arranged in an array. The upper surface of the adsorption fixtures is provided with multiple negative pressure holes arranged in an array. The adsorption fixtures are provided with a main air channel, which is connected to the multiple negative pressure holes. The upper surfaces of the multiple adsorption fixtures are flush. A porous polyester fiber sheet is also provided. The porous polyester fiber sheet is attached to the upper surfaces of the multiple adsorption fixtures. A film is provided on the lower surface of the honeycomb paperboard motherboard. The film is attached to the upper surface of the porous polyester fiber sheet.

[0052] In the preferred embodiment, the upper and lower surfaces of the honeycomb paperboard motherboard are provided with a film, and a feeding robot is also provided on one side of the adsorption platform. The feeding robot is equipped with a suction cup, which is used to adsorb the cut honeycomb board.

[0053] The preferred solution includes an intelligent closing method for the adsorption fixture:

[0054] Define a set of M function blocks in the controller of the cutting robot, with each pair of M codes representing one bit of the BCD code, and define the M codes for the start transmission flag and the end transmission flag. In addition, define the M codes representing the opening and closing of the suction fixture.

[0055] The arrayed adsorption fixtures are numbered using coordinates.

[0056] The air supply and shut-off of each adsorption fixture are independently controlled by a pneumatic control valve island.

[0057] The interface program is used to analyze the G code, and regular expressions are used to find the maximum and minimum X values ​​and the maximum and minimum Y values ​​of the cut graphic to determine the contour occupied by the cut graphic, and the center of the contour is calculated.

[0058] Find the corresponding adsorption fixture number below based on the coordinate position occupied by the graphic outline, and insert the M code command string in BCD code form after the program ends in the G code using the interface program.

[0059] After the controller of the cutting robot finishes executing the G-code cutting program, the cutting robot is temporarily reset. Then, it executes the above-mentioned M-code command string and sends a series of M-instructions to the PLC and the controller of the unloading robot.

[0060] The PLC controls the pneumatic valve island to close the corresponding adsorption fixture, and the unloading robot pneumatically drives the suction cup to the center of the finished honeycomb panel outline, picks up the finished honeycomb panel and unloads it.

[0061] The cutting robot and ultrasonic cutting blade start at regular intervals to cut the next position of the pattern.

[0062] In the preferred embodiment, when finding the corresponding adsorption fixture number below based on the coordinate position occupied by the graphic outline, it is necessary to calculate the ratio of the area of ​​the graphic occupying the adsorption fixture below to the area of ​​a single piece of the adsorption fixture, and set a threshold. If the area ratio is greater than the threshold, the adsorption fixture is allowed to be turned off.

[0063] The beneficial effects of this invention are as follows: Ultrasonic cutting is used, resulting in minimal cutting resistance and facilitating oblique cutting of edges and corners without deformation of the sheet material; a multi-axis robot guides the cutting process by executing G-code, replacing manual tooling cutting and achieving a high degree of automation; the cutting pattern is converted into G-code for execution, and the robot's cutting path is not fixed. Compared to fixed pre-programmed debugging methods such as on-site programming and offline programming, it is not constrained by the type of sheet material or the chamfer angle, making it more flexible and convenient, and closer to the requirements of application scenarios; graphic layout is easy, G-code is convenient to splice, and multiple finished pieces can be cut from the motherboard in one processing, resulting in high cutting efficiency. Attached Figure Description

[0064] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0065] Figure 1 This is a side view schematic diagram of the present invention.

[0066] Figure 2 This is a schematic diagram of the cutting blade deflector of the present invention.

[0067] Figure 3 This is a diagram of the shielding portion of the cutting blade deflector of the present invention.

[0068] Figure 4 This is a schematic diagram of the adsorption fixture of the present invention.

[0069] Figure 5 This is a schematic diagram of the honeycomb paperboard adsorption of the present invention.

[0070] Figure 6 This is a schematic diagram of the oblique cut transition of the present invention.

[0071] Figure 7 This is a schematic diagram of the finished product being removed from the product container.

[0072] Figure 8 This is a schematic diagram illustrating the transition point calculation principle of the present invention.

[0073] Figure 9 This is a schematic diagram of the flat blade rotation angle of the present invention.

[0074] Figure 10 This is a top view schematic diagram of the optimized structure of the present invention.

[0075] In the diagram: 1. Adsorption platform; 101. Adsorption fixture; 102. Main air duct; 103. Negative pressure hole; 104. Porous polyester fiber sheet; 2. Column; 3. Cutting robot; 4. Cutting blade deflector; 401. Ultrasonic cutting blade; 402. Fixing sleeve; 403. Sliding plate; 404. Drive motor; 405. Arc plate; 406. Arc groove; 407. Arc rack; 408. Walking wheel; 409. Gear; 5. Honeycomb cardboard motherboard; 501. Film; 6. Unloading robot; 601. Suction cup; 602. Boundary of finished honeycomb panel. Detailed Implementation

[0076] Example 1:

[0077] like Figure 1-10 In the present invention, an automated cutting method for honeycomb panels based on programming processing of a flat ultrasonic knife is disclosed, comprising an adsorption platform 1 for fixing a honeycomb cardboard motherboard 5, a column 2 on one side of the adsorption platform 1, a cutting robot 3 on the upper end of the column 2, and an ultrasonic cutting knife 401 that can deflect along the blade tip on the cutting robot 3.

[0078] The robot is side-mounted, which increases the coverage area of ​​the arm span compared to front-mounted, and avoids dead spots in the 0-360 degree position of the 1 axis compared to inverted mounting.

[0079] In a preferred embodiment, a cutting blade deflector 4 is also included. The cutting blade deflector 4 includes a sliding plate 403 and an arc-shaped plate 405 arranged in parallel. A fixing sleeve 402 is provided on the sliding plate 403. The ultrasonic cutting blade 401 is mounted on the sliding plate 403 through the fixing sleeve 402. A plurality of arc-shaped grooves 406 are provided on the arc-shaped grooves 406. An arc-shaped rack 407 is also provided on one side of the arc-shaped grooves 406. A rotatable traveling wheel 408 is provided on the side of the sliding plate 403 near the arc-shaped plate 405. The traveling wheel 408 is stuck in the arc-shaped grooves 406 and rolls. A drive motor 404 is also provided on the sliding plate 403. A gear 409 is provided at the shaft end of the drive motor 404. The gear 409 meshes with the arc-shaped rack 407.

[0080] The cutting blade deflector 4 is equivalent to adding a seventh axis, which can improve the robot's posture and prevent jamming or stalling when making large angles.

[0081] In a preferred embodiment, the adsorption platform 1 is provided with a plurality of adsorption fixtures 101 arranged in an array. The upper end face of the adsorption fixtures 101 is provided with a plurality of negative pressure holes 103 arranged in an array. The adsorption fixtures 101 are provided with a main air channel 102, which is connected to the plurality of negative pressure holes 103. The upper end faces of the plurality of adsorption fixtures 101 are flush. A porous polyester fiber sheet 104 is also provided. The porous polyester fiber sheet 104 is attached to the upper end face of the plurality of adsorption fixtures 101. A film 501 is provided on the lower end face of the honeycomb paperboard mother board 5. The film 501 is attached to the upper end face of the porous polyester fiber sheet 104.

[0082] Each of the adsorption fixtures 101 can be independently controlled for on / off switching and is equipped with an independent digital vacuum gauge.

[0083] The honeycomb paperboard motherboard 5 is bonded to the film 501 as a whole, and the film 501 is also cut through when it is cut.

[0084] In a preferred embodiment, the upper and lower surfaces of the honeycomb cardboard mother board 5 are both provided with a film 501. A feeding robot 6 is also provided on one side of the adsorption platform 1. The feeding robot 6 is equipped with a suction cup 601, which is used to adsorb the cut and shaped honeycomb panels. The boundary 602 of the finished honeycomb panel is as follows: Figure 10 .

[0085] It also includes computers, main control cabinets, vacuum pumps, pneumatic boxes, HMIs, etc.

[0086] The negative pressure establishment and closing of the adsorption fixture 101 is controlled by the PLC in the main control cabinet through the pneumatic valve island, and the drive motor 404 of the cutting blade deflector 4 is also controlled by the PLC.

[0087] The computer serves as a drawing tool for staff, a platform for executing interface programs, and a database for storing drawing data and equipment execution logs.

[0088] The G-code file is transmitted from the computer to the controller of the cutting robot 3. When the cutting robot 3 executes the G-code, it can issue various instructions to the PLC through the M-instruction.

[0089] The unloading robot 6 and the cutting robot 3 are from the same brand and can communicate with each other in real time.

[0090] For situations where the client's factory has a fixed product range, the simplest approach is to have robot engineers debug on-site, programming each type of code into the controller and switching between them during processing. This is the operational method for the vast majority of projects. If product types are added later and the supplier's robot engineers are not on-site, the engineers can use offline programming to program the paths in a virtual model and then transfer them to the on-site robot. However, this requires the model to closely match the actual situation of the factory robot, which carries certain implementation risks. However, the types of products produced by the client are random over a period of time, and multiple different types of graphics need to be arranged on a honeycomb motherboard for cutting. This flexible combination and arrangement processing is impossible to achieve through either on-site debugging or offline programming. Therefore, the client's engineers need to arrange the graphics themselves and convert them into code for processing.

[0091] Preparatory work is required before the actual cutting of the honeycomb panels:

[0092] Download free, open-source software such as Mastercam or JDSoft SurfMill to process path editing software;

[0093] Download Python or other compiler software and configure the compilation environment;

[0094] Using Python or other compiler software, write an interface program. The main functions of the interface program are: reading G-code files with the .NC extension, reading G-code files line by line, searching for key characters using regular expressions, extracting or inserting code statements, performing logical judgments and calculations, saving G-code files, and providing a GUI with input parameters. The program is then packaged into a Windows desktop application using Python's pyinstaller module for easy use.

[0095] Install a G-code interpreter in the controller of the cutting robot 3. Taking the KUKA robot as an example, the KUKA.CNC software package needs to be installed on the KRC4 controller. Through the interpreter, the robot can run G-code in .nc format like a CNC machine tool.

[0096] In the controller of cutting robot 3, define function block M. Function block M is generally the control instruction from the host computer of CNC machining center to the lower PLC. It is still effective when transplanted to the robot. However, due to the different specific actuators, it needs to be defined in advance. For example, M120 is defined as the start of drive motor 404, and M121 is defined as the end of drive motor 404.

[0097] In addition, the program for PLC control of each actuator needs to be completed.

[0098] Use computer-aided design software such as AutoCAD and SolidWorks to draw planar outline graphics, i.e., blanking outline graphics;

[0099] Save the planar graphic as an intermediate format such as .dxf or .step and import it into Mastercam or JDSoft SurfMill. In the software's built-in machining path module, select the contour machining type and input parameters such as machining depth and speed. Select the machining graphic, generate the machining path, and save the machining path as a general G-code program with the .nc suffix.

[0100] In the GUI of the interface program, input the cutting mode and cutting parameters. The cutting modes are mainly two types: cutting contour and cutting edge corners. You can select one or check both at the same time. This is mainly to deal with the situation where some honeycomb panels do not need to cut the edges and corners. Some of the cutting parameters have already been entered when using JDSoft SurfMill, such as safety plane height, cutting mode, cutting speed, etc. The main parameters that need to be entered in the GUI are the cutting angle and cutting depth.

[0101] Run the interface program, insert the cutting mode and cutting parameters into the G-code program, and optimize the G-code program;

[0102] The main optimization methods for G-code by the interface program are:

[0103] Use the interface program to read files with the .nc extension and load G-code;

[0104] Since the G-code is written using open-source path machining software for CNC machining centers, many instructions cannot be recognized by the robot, such as the spindle rotation M instruction and the speed instruction S. According to the rules of the G-code interpreter of the cutting robot 3, redundant code in the original G-code program, such as characters like G28, G40, M03, etc., as well as some tool selection and tool change instructions, are deleted. After the G-code is loaded into the interface program, parameters that do not conform to the robot's operation also need to be deleted, such as the speed, and the keywords of the travel speed parameter are changed to characters that the robot can recognize.

[0105] Unify the device coordinate system, drawing space coordinate system, and robot coordinate system. Since the device coordinate system and robot coordinate system were already unified during debugging and installation, here we only need to modify the starting point of the drawing coordinate system in the G-code to be consistent with the device.

[0106] For cylindrical end mills, since they mainly rely on the rotating cutting edge and bottom edge for cutting, they have no inherent directionality. When programming, they are usually treated as a point plus the tool diameter. The path software only needs to draw a circular path along the outer edge of the graphic to be cut, without any turning commands. However, for flat cutting cutters, the cutting edge must face forward when cutting, otherwise the tool will be broken off directly. They have a unidirectional directionality. Therefore, the G-code designed for cylindrical cutters is not suitable for flat cutters. A tool turning command needs to be added at the corner of the path.

[0107] Since the G code contains a large number of X, Y, and Z coordinates, where the Z coordinate is the depth position and the X and Y coordinates are the planar positions of the next target point, the specific approach is to read the G code line by line and analyze the X and Y coordinates.

[0108] like Figure 9 The initial X and Y coordinates of the cutting tip are set according to the cutting tip coordinates when the cutting robot 3 is reset, with coordinates (x0, y0).

[0109] Use regular expressions to search the code line, match the value following the first X character and the value following the first Y character, with coordinates (x1, y1). The direction of the line connecting this coordinate point and the initial coordinate point is the initial direction of the blade. Calculate the angle of this direction and insert the initial turning angle code.

[0110] Continue searching the subsequent lines. When a new X or Y character appears, the coordinates are (x2, y2). Calculate the slope of the line connecting the new X or Y character to the previous coordinate point and determine the difference between this angle and the previous blade angle.

[0111] Since the cutter cannot be rotated while it is inserted into the honeycomb plate, as this would damage the honeycomb plate and the cutter, a cutter lifting code needs to be inserted before executing the (x1,y1) to (x2,y2) movement command;

[0112] Insert the cornering code after the knife-raising code, with the value being the difference mentioned above;

[0113] Insert the cutting procedure after the corner code line;

[0114] When the code is executed, the ultrasonic cutter will first lift up, then rotate, and then lower to return to its original position.

[0115] Iterate through all the code and add this three-line code to every corner point used;

[0116] If the chamfering procedure is selected in the GUI, chamfering code needs to be inserted after the contour cutting code;

[0117] Since it is necessary to cut corners at the edges of the honeycomb panel graphic outline, and the ultrasonic knife deflects along the tip of the knife in the mechanical device, the advantage of doing so is that the corner cutting program and the outline cutting can completely overlap on the plane path without offset processing. The difference is that due to the knife deflection angle, the original vertical cutting needs to be changed to inclined cutting, and the cutting should be along the tip of the knife.

[0118] The specific steps are to copy the optimized contour cutting code, read the code, and identify the added cut down and cut up commands;

[0119] Use regular expressions to search for G-code and read the chamfer angle value, depth value, and set safety plane height value;

[0120] Use regular expressions to search for G-code and read the X, Y, and Z coordinates of the next target;

[0121] The current angle orientation of the ultrasonic tool is determined by matching the numerical value after the character "A" between the down and up commands using regular expressions.

[0122] like Figure 8 Since the cutting angle value a, the cutting depth value h, and the height of the safety plane from the target point are all known, the horizontal distance l between the intermediate transition point and the target point can be easily calculated using trigonometric functions. Since the X and Y values ​​of the target point and the current horizontal rotation angle of the tool are known, the coordinates of the intermediate transition point can be calculated.

[0123] Add intermediate transition point coordinates to each lifting and lowering of the blade, and write them as corner cutting program code;

[0124] Read the chamfer angle and depth values ​​input from the GUI again;

[0125] In the controller of the cutting robot 3, 16 M instruction blocks, such as M102-M117, are divided into 8 groups. Each group represents one bit of an eight-bit BCD code, which is either 0 or 1. For example, M102 represents the highest bit as 1, M103 represents the highest bit as 0, M104 represents the second highest bit as 1, and M105 represents the second highest bit as 0.

[0126] Convert the tangent angle measurement into BCD code format;

[0127] Two M codes are used to represent one bit of the BCD code, and the start M code and end M code of transmission are inserted before and after the M code string representing the BCD code, respectively.

[0128] Insert the M-code indicating the start of execution after the above M-code string;

[0129] The controller of cutting robot 3 executes G code and sends M code string to the PLC that controls the deflection of ultrasonic cutting blade 401;

[0130] The PLC receives the M code string representing BCD code and restores the BCD code to decimal value through a pre-programmed decoding program.

[0131] The PLC receives the M code to start execution and controls the actuator to deflect the ultrasonic cutting blade 401 along the blade tip by a set degree.

[0132] The entire corner-cutting code is inserted after the contour-cutting code to form a complete optimized G-code.

[0133] The optimized G-code program is input into the controller of the cutting robot 3 via a computer;

[0134] Place the honeycomb cardboard motherboard 5 on the adsorption platform for adsorption and fixation;

[0135] The ultrasonic cutting blade 401 is activated, and the cutting robot 3 begins to execute the cutting command.

[0136] The preferred solution includes an intelligent closing method for the adsorption fixture:

[0137] Since the tip of the ultrasonic cutting blade 401 cannot directly touch the hard upper surface of the adsorption fixture 101, a layer of breathable porous polyester fiber sheet 104 needs to be placed on top. Since the honeycomb paperboard mother plate 5 has a film 501 bonded to both sides, the honeycomb paperboard mother plate 5 is adsorbed on the porous polyester fiber sheet 104. Since there is more than one pattern processed on the honeycomb paperboard mother plate 5 at one time, if it is removed after the previous pattern is cut and corners are cut, the exposed space of the porous polyester fiber sheet 104 will leak air. Since the vacuum pump power is limited, once a large area of ​​air leakage occurs, the adsorption force of all adsorption fixtures 101 will decrease instantly. When the next pattern is cut, the honeycomb paperboard mother plate 5 is prone to displacement due to lateral force. Therefore, it is necessary to intelligently determine the position of the previous pattern and which pneumatic valve controls the adsorption fixture 101 below before removal, and close it in advance to facilitate removal and prevent air leakage.

[0138] In the controller of the cutting robot 3, a set of M function blocks are defined, with each two M codes representing one bit of the BCD code, and M codes for the start transmission flag and the end transmission flag are defined. In addition, M codes representing the opening and closing of the adsorption fixture 101 are defined.

[0139] The arrayed adsorption fixtures 101 are numbered using coordinates;

[0140] The air supply and de-airing of each adsorption fixture 101 is independently controlled by a pneumatic control valve island.

[0141] The interface program is used to analyze the G code, and regular expressions are used to find the maximum and minimum X values ​​and the maximum and minimum Y values ​​of the cut graphic to determine the contour occupied by the cut graphic, and the center of the contour is calculated.

[0142] Based on the coordinate position occupied by the graphic outline, find the corresponding adsorption fixture 101 number below. After the program ends the cutting command in the G code using the interface program, insert the M code command string in BCD code form representing the adsorption fixture 101 number and the center coordinate of the outline.

[0143] After the controller of cutting robot 3 finishes executing the G-code cutting program, cutting robot 3 is temporarily reset. Then, it executes the above-mentioned M-code command string and sends a series of M-instructions to the PLC and the controller of unloading robot 6.

[0144] PLC controls the pneumatic valve island to close the corresponding adsorption fixture 101, and the unloading robot 6 pneumatically drives the suction cup 601 to the center of the finished honeycomb panel outline, picks up the finished honeycomb panel and unloads it.

[0145] The cutting robot 3 and the ultrasonic cutting blade 401 start at a set time to perform cutting of the next position pattern.

[0146] In the preferred embodiment, when locating the corresponding adsorption fixture 101 number based on the coordinate position occupied by the graphic outline, it is necessary to calculate the ratio of the area of ​​the graphic occupying the lower adsorption fixture 101 to the area of ​​a single piece of adsorption fixture 101, and set a threshold. If the area ratio is greater than the threshold, the adsorption fixture 101 is allowed to be turned off. If a small edge of the graphic outline encroaches on an adjacent adsorption fixture 101, it is not necessary to turn off the adjacent adsorption fixture 101.

[0147] Example 2:

[0148] Original G-code (path codes are mainly for cylindrical end mills):

[0149] %

[0150] O0001

[0151] N10 G91G28Z0

[0152] N20 G90G40G49G80G98

[0153] N30 G21G0G54G17

[0154] PATH NAME: Contour Cutting (Outer Offset)

[0155] N40 T1 M6

[0156] (TOOL NAME: [Flat-soled] JD-1.00)

[0157] N50 G90 G40 G49 G54 G17

[0158] N60 S30000 M03

[0159] N70 G00 X-0.5 Y-0.5 M08

[0160] N80 G43 Z5.0 H1

[0161] N90 Z-1364.98

[0162] N100 G01 Z-1365.48 F90.0

[0163] N110 Z-1385.5

[0164] N120 Y300.5 F600.0

[0165] N130 X400.5

[0166] N140 Y-0.5

[0167] N150 X-0.5

[0168] N160 G00 Z2.0

[0169] N170 X274.5 Y150.0

[0170] N180 Z-1364.98

[0171] N190 G01 Z-1365.48 F90.0

[0172] N200 Z-1385.5

[0173] N210 G03 X200.0 Y224.5 I-74.5 J0.0 F600.0

[0174] N220 X125.5 Y150.0 I0.0 J-74.5

[0175] N230 X200.0 Y75.5 I74.5 J0.0

[0176] N240 X274.5 Y150.0 I0.0 J74.5

[0177] N250 G00 Z5.0

[0178] N260 M09

[0179] N270 M05

[0180] N280 G91 G28 Z0

[0181] N290 M1

[0182] N300 M30

[0183] %

[0184] Remove some code that the G-code interpreter cannot recognize:

[0185] %

[0186] PATH NAME: Contour Cutting (Outer Offset)

[0187] N40 T1

[0188] (TOOL NAME: [Flat-soled] JD-1.00)

[0189] N50 G90 G54 G01 Z-1355.48 F1350.0

[0190] N60 S30000

[0191] N70 G00 X-0.5 Y-0.5

[0192] N80

[0193] N90 Z-1364.98

[0194] N100 G01 Z-1365.48 F90.0

[0195] N110 Z-1385.5

[0196] N120 Y300.5 F600.0

[0197] N130 X400.5

[0198] N140 Y-0.5

[0199] N150 X-0.5

[0200] N160 G00 Z-1360.5

[0201] N170 X274.5 Y150.0

[0202] N180 Z-1364.98

[0203] N190 G01 Z-1365.48 F90.0

[0204] N200 Z-1385.5

[0205] N210 G03 X200.0 Y224.5 I-74.5 J0.0 F600.0

[0206] N220 X125.5 Y150.0 I0.0 J-74.5

[0207] N230 X200.0 Y75.5 I74.5 J0.0

[0208] N240 X274.5 Y150.0 I0.0 J74.5

[0209] N250 G00 Z-1360.48

[0210] N260

[0211] N270

[0212] N280

[0213] N290

[0214] N300 M30

[0215] %

[0216] The final optimized code (the part after # is an explanation of this application and not part of the code itself):

[0217] %

[0218] #Contour Cutting Program

[0219] N40 T1

[0220] N50 G90 G54 G01 Z-1355.48 F1350.0 #Speed ​​during robot initialization

[0221] N70 G01 X-0.5 Y-0.5 F20000.0 #Sets an initial tool angle correction point and assigns a speed during idle tool movement.

[0222] N80

[0223] N90 Z-1364.98

[0224] G01 A90.0 F5000.0 # Adjust the tool rotation angle in advance based on the position of the next coordinate point.

[0225] N100 G01 Z-1385.5 F90.0 # Cut vertically until the blade tip is close to the table surface.

[0226] N120 Y300.5 F600.0 #Start cutting the outline

[0227] G01 Z-1360.5 F20000.0 #Raise knife

[0228] G01 A0.0 F5000.0 # Rotate according to the orientation of the next coordinate point

[0229] G01 Z-1385.5 F600.0 #Initiating cut

[0230] N130 X400.5 #Continue cutting

[0231] G01 Z-1360.5 F20000.0

[0232] G01 A90.0 F5000.0

[0233] G01 A180.0 F5000.0

[0234] G01 A270.0 F5000.0 #The robot cannot recognize rotation commands greater than 90 degrees and needs to be rotated multiple times.

[0235] G01 Z-1385.5 F600.0

[0236] N140 Y-0.5

[0237] G01 Z-1360.5 F20000.0

[0238] G01 A180.0 F5000.0

[0239] G01 Z-1385.5 F600.0

[0240] N150 X-0.5

[0241] N160 G01 Z-1360.5 F20000.0

[0242] N170 X274.5 Y150.0

[0243] N180 Z-1364.98

[0244] G01 A90.0 F5000.0

[0245] N190 G01 Z-1385.5 F90.0

[0246] N210 G03 X200.0 Y224.5 I-74.5 J0.0 A180.0 F300.0 #The robot cannot recognize circular interpolation commands greater than 90 degrees, therefore segmented execution is required.

[0247] N220 G03 X125.5 Y150.0 I0.0 J-74.5 A270.0 F300.0

[0248] N230 G03 X200.0 Y75.5 I74.5 J0.0 A360.0 F300.0

[0249] G01 Z-1360.5 F20000.0

[0250] G01 A270.0 F5000.0

[0251] G01 A180.0 F5000.0

[0252] G01 A90.0 F5000.0

[0253] G01 A0.0 F5000.0

[0254] G01 Z-1385.5 F600.0

[0255] N240 G03 X274.5 Y150.0 I0.0 J74.5 A90.0 F300.0

[0256] N250 G01 Z-1360.48 F20000.0

[0257] N260

[0258] N270

[0259] N280

[0260] N290

[0261] G01 A0.0 F5000.0

[0262] N02

[0263] N02

[0264] N02

[0265] #The following is the chamfering procedure

[0266] N40 T1

[0267] N50 G90 G54 G01 Z-1355.48 F1350.0

[0268] M100 #Start Transmission

[0269] M103 #0, M102 represents 1

[0270] M105 #0, M104 represents 1, and the following principles apply.

[0271] M106 #1

[0272] M108 #1

[0273] M110 #1

[0274] M112 #1

[0275] M115 #0

[0276] M117 #0

[0277] G04 X1 # Wait 1s for data transmission

[0278] M101 # End transmission, transmission result is 00111100, decimal is 60.

[0279] M118 #Ultrasound Knife Enable Off

[0280] M120 # Drive motor enabled, ultrasonic scalpel begins to deflect 60 degrees, which translates to a cutting angle of 30 degrees.

[0281] G04 X8.0 #Wait 8s delay for tool deflection

[0282] M121 #Drive motor enable switch

[0283] M119 #Ultrasound knife enable on

[0284] N70 G01 X-0.5 Y-0.5 F20000.0

[0285] N80

[0286] N90 Z-1364.98

[0287] G01 X16.7 Y-0.5 Z-1360.5 F20000.0

[0288] G01 A90.0 F10000.0

[0289] G01 X-0.5 Y-0.5 Z-1370.4 F600.0

[0290] N120 Y300.5 F600.0

[0291] G01 X16.7 Y300.5 Z-1360.5 F20000.0

[0292] G01 X-0.5 Y283.2 Z-1360.5 F20000.0

[0293] G01 A0.0 F10000.0

[0294] G01 X-0.5 Y300.5 Z-1370.4 F600.0

[0295] N130 X400.5

[0296] G01 X400.5 Y283.2 Z-1360.5 F20000.0

[0297] G01 X383.2 Y300.5 Z-1360.5 F20000.0

[0298] G01 A90.0 F10000.0

[0299] G01 A180.0 F10000.0

[0300] G01 A270.0 F10000.0

[0301] G01 X400.5 Y300.5 Z-1370.4 F600.0

[0302] N140 Y-0.5 # Cutting bevel

[0303] G01 X383.2 Y-0.5 Z-1360.5 F20000.0 # Reverse retraction along the tool tip direction

[0304] G01 X400.5 Y16.7 Z-1360.5 F20000.0 # The intermediate transition point of the target coordinates under the moving tool.

[0305] G01 A180.0 F10000.0 #Ultrasound knife angle rotation

[0306] G01 X400.5 Y-0.5 Z-1370.4 F600.0 #Infeed along the tool tip direction

[0307] N150 X-0.5 #Continue cutting the bevel

[0308] G01 X-0.5 Y16.7 Z-1360.5 F20000.0

[0309] N160 G01 Z-1360.5 F20000.0

[0310] N170 X274.5 Y150.0

[0311] N180 Z-1364.98

[0312] G01 X291.7 Y150.0 Z-1360.5 F20000.0

[0313] G01 A90.0 F10000.0

[0314] G01 X274.5 Y150.0 Z-1370.4 F600.0

[0315] N210 G03 X200.0 Y224.5 I-74.5 J0.0 A180.0 F300.0

[0316] N02

[0317] N02

[0318] N01

[0319] N220 G03 X125.5 Y150.0 I0.0 J-74.5 A270.0 F300.0

[0320] N02

[0321] N02

[0322] N01

[0323] N230 G03 X200.0 Y75.5 I74.5 J0.0 A360.0 F300.0

[0324] N02

[0325] G01 X200.0 Y58.2 Z-1360.5 F20000.0

[0326] G01 A270.0 F10000.0

[0327] G01 A180.0 F10000.0

[0328] G01 A90.0 F10000.0

[0329] G01 A0.0 F10000.0

[0330] G01 X200.0 Y75.5 Z-1370.4 F600.0

[0331] N240 G03 X274.5 Y150.0 I0.0 J74.5 A90.0 F300.0

[0332] G01 X291.7 Y150.0 Z-1360.5 F20000.0

[0333] N250 G01 Z-1360.48 F20000.0

[0334] N260

[0335] N270

[0336] N280

[0337] N290

[0338] G01 A0.0 F10000.0

[0339] #After the corner-cutting procedure is completed, the ultrasonic scalpel needs to be restored to a vertical position, therefore the M-code string needs to be transmitted again.

[0340] M100

[0341] M103

[0342] M105

[0343] M107

[0344] M109

[0345] M111

[0346] M113

[0347] M115

[0348] M117

[0349] G04 X1

[0350] M101

[0351] M118

[0352] M120

[0353] G04 X8.0

[0354] M121

[0355] M119

[0356] #MCS ON

[0357] G01 G90 F500

[0358] A6=-180

[0359] #MCS OFF

[0360] N300 M30

[0361] %

[0362] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. An automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel, characterized by: Includes an adsorption platform (1), which is used to fix the honeycomb paperboard motherboard (5). A column (2) is provided on one side of the adsorption platform (1), and a cutting robot (3) is provided on the upper end of the column (2). An ultrasonic cutting blade (401) that can deflect along the blade tip is provided on the cutting robot (3). Install a G-code interpreter in the controller of the cutting robot (3); Use computer-aided design software to draw planar outline graphics; Use path drawing software to convert outline graphics into G-code programs; Enter the cutting mode and cutting parameters in the input interface of the interface program; Run the interface program, insert the cutting mode and cutting parameters into the G-code program, and optimize the G-code program; Including G-code program optimization methods: Load G code using an interface program; According to the rules of the G-code interpreter of the cutting robot (3), delete the redundant code in the original G-code program and modify the cutting parameters; Modify the starting point of the drawing space coordinate system and the starting point of the coordinate system of the cutting robot (3) to be consistent; Identify points of direction change in the cutting path and insert corner command code at these points; Including methods for inserting corner codes: Load G code using an interface program; The initial X and Y coordinate values ​​of the cutting tip are set according to the cutting tip coordinates when the cutting robot (3) is reset; Use regular expressions to search the code line, match the value following the first X character and the value following the first Y character. The direction of the line connecting this coordinate point and the initial coordinate point is the initial direction of the blade. Calculate the angle of this direction and insert the initial turning angle code. Continue searching the subsequent lines. When a new X or Y character appears, calculate the slope of the line connecting it to the previous coordinate point and determine the difference between that angle and the previous blade angle. Insert the code to raise the knife before this line; Insert the cornering code after the knife-raising code, with the value being the difference mentioned above; Insert the cutting procedure after the corner code line; Copy the optimized contour cutting code, identify the cutter entry and cutter exit commands in the code, add intermediate transition point coordinates, and write it as a corner cutting program code; Including the method for determining the coordinates of the intermediate transition point in the chamfering procedure: Load G code using an interface program; Recognizes already added cut-down and cut-up commands; Use regular expressions to search for G-code and read the chamfer angle value, depth value, and set safety plane height value; Use regular expressions to search for G-code and read the X, Y, and Z coordinates of the next target; The current angle orientation of the ultrasonic tool is determined by matching the numerical value after the character "A" between the down and up commands using regular expressions. The chamfer angle, chamfer depth, and the height of the safety plane from the target point are all known. The horizontal distance between the intermediate transition point and the target point is calculated using trigonometric functions. Since the target point's X and Y values ​​and the tool's current horizontal rotation angle are known, the coordinates of the intermediate transition point are calculated based on the horizontal distance. Add chamfer angle and depth values ​​to the chamfering program code; The entire chamfering code is inserted after the contour cutting code to form a complete optimized G-code; Input the G-code program into the controller of the cutting robot (3); The honeycomb paperboard motherboard (5) is placed on the adsorption platform for adsorption and fixation; Turn on the ultrasonic cutting blade (401), and the cutting robot (3) begins to execute the cutting command.

2. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 1, characterized in that: Including the method for transmitting the chamfer angle value: Define the M function block in the controller of the cutting robot (3); Load G code using an interface program; Search the G-code to find the chamfer angle value entered by the user; The controller of the cutting robot (3) reads the cutting angle setting value in the G code; Convert the tangent angle measurement into BCD code format; Two M codes are used to represent one bit of the BCD code, and the start M code and end M code of transmission are inserted before and after the M code string representing the BCD code, respectively. Insert the M-code indicating the start of execution after the above M-code string; The controller of the cutting robot (3) executes G code and sends M code string to the PLC that controls the deflection of the ultrasonic cutting blade (401); The PLC receives the M code string representing BCD code and restores the BCD code to decimal value through a pre-programmed decoding program. The PLC receives the M code to start execution and controls the actuator to deflect the ultrasonic cutting blade (401) along the blade tip by a set degree.

3. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 1, characterized in that: It also includes a cutting blade deflector (4), which includes a sliding plate (403) and an arc plate (405) arranged in parallel. A fixed sleeve (402) is provided on the sliding plate (403). The ultrasonic cutting blade (401) is installed on the sliding plate (403) through the fixed sleeve (402). Multiple arc grooves (406) are provided on the arc groove (406). An arc rack (407) is also provided on one side of the arc groove (406). A rotatable walking wheel (408) is provided on the side of the sliding plate (403) near the arc plate (405). The walking wheel (408) is stuck in the arc groove (406) and rolls. A drive motor (404) is also provided on the sliding plate (403). A gear (409) is provided at the shaft end of the drive motor (404). The gear (409) meshes with the arc rack (407).

4. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 1, characterized in that: The adsorption platform (1) is provided with multiple adsorption fixtures (101) arranged in an array. The upper surface of the adsorption fixture (101) is provided with multiple negative pressure holes (103) arranged in an array. The adsorption fixture (101) is provided with a main air channel (102). The main air channel (102) is connected to multiple negative pressure holes (103). The upper surfaces of the multiple adsorption fixtures (101) are flush. A porous polyester fiber sheet (104) is also provided. The porous polyester fiber sheet (104) is attached to the upper surface of the multiple adsorption fixtures (101). A film (501) is provided on the lower surface of the honeycomb paperboard motherboard (5). The film (501) is attached to the upper surface of the porous polyester fiber sheet (104).

5. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 4, characterized in that: The honeycomb paperboard motherboard (5) has a film (501) on both the upper and lower ends. The adsorption platform (1) is also equipped with a feeding robot (6) on one side. The feeding robot (6) is equipped with a suction cup (601). The suction cup (601) is used to adsorb the cut honeycomb board.

6. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 5, characterized in that: Including intelligent closing methods for adsorption fixtures: In the controller of the cutting robot (3), a set of M function blocks are defined, with each two M codes representing one bit of the BCD code, and M codes for the start transmission flag and the end transmission flag are defined. In addition, M codes representing the opening and closing of the adsorption fixture (101) are defined. The array of adsorption fixtures (101) are numbered using coordinates; The air supply and de-airing of each adsorption fixture (101) is independently controlled by a pneumatic control valve island; The interface program is used to analyze the G code, and regular expressions are used to find the maximum and minimum X values ​​and the maximum and minimum Y values ​​of the cut graphic to determine the contour occupied by the cut graphic, and the center of the contour is calculated. Find the corresponding adsorption fixture (101) number below based on the coordinate position occupied by the graphic outline, and insert the M code command string in BCD code form representing the adsorption fixture (101) number and the center coordinate of the outline after the G code cutting program ends using the interface program; After the controller of the cutting robot (3) finishes executing the G-code cutting program, the cutting robot (3) is temporarily reset. Then, the above-mentioned M-code command string is executed, and a series of M-instructions are sent to the PLC and the controller of the unloading robot (6). The PLC controls the pneumatic valve island to close the corresponding adsorption fixture (101), and the unloading robot (6) pneumatically drives the suction cup (601) to the center of the finished honeycomb panel outline, picks up the finished honeycomb panel and unloads it; The cutting robot (3) and ultrasonic cutting blade (401) are started at regular intervals to perform cutting of the next position pattern.

7. The automated cutting method for honeycomb panels based on programming processing using a flat ultrasonic scalpel according to claim 6, characterized in that: When finding the corresponding adsorption fixture (101) number below based on the coordinate position occupied by the graphic outline, it is necessary to calculate the ratio of the area of ​​the graphic occupying the adsorption fixture (101) below to the area of ​​a single piece of the adsorption fixture (101), and set a threshold. If the area ratio is greater than the threshold, the adsorption fixture (101) is allowed to be turned off.

Images