A multi-station switching method for a die cutting trajectory program

Abstract

The present invention relates to the technical field of mold processing and preparation, and particularly relates to a multi-station switching method for a mold cutting trajectory program. The mold is fixed on a workbench, and drilling and positioning are performed on the fixed seat of the mold, and a fixed three-dimensional spatial position relationship is formed between any positioning hole and any point on the mold. After the mechanical arm tool coordinate and the workpiece coordinate are confirmed, the mechanical arm is manipulated to cut and position the hole, and the coordinate is saved. The mechanical arm is manipulated to program the trajectory of each cutting hole one by one, named and saved. The compiled mechanical arm trajectory program is copied to the mechanical arms of other stations. After the mechanical arm tool coordinate and the workpiece coordinate are confirmed, the positioning hole is calibrated and checked by using the mechanical arm tool, and the three-dimensional spatial position relationship between the mold cutting hole position and the positioning hole is determined, and then the cutting work can be carried out. In the present invention, the program transfer and replication are realized through the fixed relationship of the three-dimensional spatial position data, reducing the repeated compilation of the cutting trajectory program and improving the work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field related to mold processing, and particularly relates to a multi-station switching method for a mold cutting program. Background Art

[0002] During the processing of some bicycle helmet products, the product needs to be fixed on a mold, and the robotic arm works to cut off the redundant parts of the product. During the working process, the product cutting generally works in a single station. The separate robotic arm works to cut a single workpiece, and it is necessary to ensure the cutting accuracy to guarantee the excellent effect of the helmet. Therefore, the operator needs to manually control the movement of the robotic arm to locate and select the main cutting points of the helmet, and set the cutting trajectory between the cutting points to ensure the cutting effect.

[0003] In existing factories, a robotic arm stores cutting programs for multiple production lines. Due to the expansion of the later production line or the need for production equipment scheduling, the production programs of different molds need to be imported into other robotic arms of the same model. However, due to the different fixed positions of the robotic arms and the problems of mold and workbench installation, there will be a relative position deviation between the tool coordinate of the robotic arm and the workpiece coordinate of the mold in the same three-dimensional space, which easily leads to the inability to recognize and run the program imported into the robotic arm, unable to position, and cutting errors of the mold during the cutting process. Re-programming the robotic arm takes a lot of time and has poor efficiency, affecting the cutting work of the workpiece. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-station switching method for a mold cutting program to solve the above problems.

[0005] The above technical purpose of the present invention is achieved through the following technical solutions:

[0006] A multi-station switching method for a mold cutting program,

[0007] A fixed seat extends below the mold, and the fixed seat is fixed on the workbench;

[0008] Determine the initial position of the tool of the robotic arm and record it as the tool coordinate. The tool touches the edge of the mold and is recorded as the workpiece coordinate of the mold. Drill positioning holes on the fixed seat, control the robotic arm to manually position the positioning holes, determine and record the positioning hole coordinates, record and compare the tool coordinate and the workpiece coordinate of the mold, and program and record with the tool coordinate at the initial position of the tool as the zero position;

[0009] Control the tool to position the cutting hole of the mold above the positioning hole, record the cutting trajectory of the tool, and program the cutting trajectory for the tool.

[0010] Copy the completed program to the robotic arm at the same processing station, install and fix the mold for the same product, control the tool to contact and position with the positioning hole, and determine the position of the positioning hole.

[0011] Taking the positioning hole as a reference, calibrate the three-dimensional spatial coordinate positions of the robotic arm and the mold, start the program, and perform the cutting work on the mold.

[0012] Beneficial effects: In the present invention, through the fixed relationship of three-dimensional spatial position data, program transfer and copying are realized, reducing the repeated programming of cutting trajectories, improving work efficiency. By using the positioning hole to determine the initial position of the robotic arm's work, it ensures that a fixed position for any processing is determined when setting the program. After passing through the fixed position, subsequent processing work is carried out, thereby reducing repositioning and recalibration work and improving work efficiency.

[0013] Further, there are several positioning holes, and several of the positioning holes are arranged in an array on the circumferential surface of the fixed seat, and several of the positioning holes form an XOY plane.

[0014] Further, the mold, the fixed seat and the workbench are fixed at the same angle.

[0015] Further, there are fixed points on the workbench, and the tool repeatedly contacts the fixed points to adjust the relative initial position of the tool and the workbench.

[0016] Further, after the robotic arm is controlled to contact the positioning hole, finely adjust the cutting program of the robotic arm to calibrate the cutting depth of the tool.

[0017] Further, several cutting positioning holes are arranged at intervals in the cutting trajectory, record the cutting depth of the cutting positioning holes and record the programming.

[0018] Further, when the tool calibrates the positioning hole, the tool does not start.

[0019] Further, the initial angle of the tool is any angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the flow structure of an embodiment of the present invention;

[0021] Figure 2 It is a schematic diagram of the working state structure of an embodiment of the present invention.

[0022] Reference numerals: 1, workbench; 2, mold; 3, robotic arm. DETAILED DESCRIPTION OF THE INVENTION

[0023] The following is only the preferred embodiment of the present invention, and the protection scope is not limited to this embodiment. All technical solutions falling within the concept of the present invention shall belong to the protection scope of the present invention. At the same time, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as the protection scope of the present invention.

[0024] According to From Figure 1 to Figure 2 , in a multi-station switching method for a mold cutting program of the present invention, a fixed seat extends below the mold. The mold and the fixed seat are fixedly connected. The molds are of the same standard, while there may be some differences in the fixed seats. The fixed seats are made of gypsum. When the mold and the fixed seat are connected, the stability of the connection needs to be ensured. Positioning holes are drilled on the fixed seat of the mold. The positional relationship between the positioning holes of any fixed seat and the mold is fixed. There may be a certain difference in the position between the positioning holes and the bottom of the fixed seat to ensure the fixation of the mold by the fixing devices at different stations.

[0025] When working, first determine the position of the tool of the robotic arm. Taking the tool stop position of the robotic arm as the initial position, record it as the tool coordinate. And there is a fixed point at a fixed position on the tool table. Through repeated calibration of the tool and the fixed point, confirm the specific coordinate of the tool.

[0026] Then bring the tool of the robotic arm into contact with the edge position of the mold, and repeat the calibration and positioning to confirm the position of the mold, and record it as the workpiece coordinate.

[0027] Then record the coordinates of the positioning holes, compare the tool coordinate and the workpiece coordinate of the mold, and perform the initial programming work with the tool coordinate at the initial position of the tool as the zero position.

[0028] Among them, the positioning holes are set manually in advance. There are three positioning holes, and all three positioning holes are arranged on the circumferential surface of the fixed seat. The three positioning holes form a reference plane for convenient positioning.

[0029] When there is one positioning hole, it is necessary to precisely control the angle at which the tool enters the positioning hole and the depth of the tool to ensure no error. When performing the positioning work, the tool of the robotic arm is in the stopped state.

[0030] The three positioning holes intersect to form an XOY plane, which is convenient for establishing a three-dimensional space coordinate system including the mold and the robotic arm, and then setting the initial coordinates for the mold and the robotic arm, and calibrating the positional relationship between the two through the initial coordinates.

[0031] Perform hole positioning on the helmet mold above the positioning hole, and program the actions of the robotic arm to control the trajectory and direction of the robotic arm's movement. At the same time, several cutting positioning holes are spaced in the middle of the cutting hole. Since there are many positions on the helmet that need to be cut, it will be divided into multiple areas. A separate cutting positioning hole can be set in each area. During the cutting process, when entering the cutting positioning hole, the cutting positioning hole will be named and saved in the trajectory programming, so as to further confirm the overall positional relationship, confirm the cutting trajectory, ensure the cutting accuracy, and further determine the cutting position through the cutting positioning hole.

[0032] Copy the completed program and input it into the robotic arms at other workstations. Based on the positioning hole as a reference, by controlling the contact between the robotic arm and the positioning hole, the workpiece coordinates of the mold and the tool coordinates of the robotic arm in the three-dimensional space are determined, and then a simple calibration and positioning is performed on them. Control the robotic arm to start the cutting work from the positioning hole, and through the trajectory guidance of the positioning hole and the cutting positioning holes on the mold, the cutting work on the mold is realized.

[0033] The angles of the mold and the fixed seat can be adjusted arbitrarily. The mold and the fixed seat are connected to each other. During the installation process of the mold and the fixed seat, due to the structural problems of the fixed seat or the offset of the set position of the fixed mounting seat, it will not affect the positioning design of the mold.

[0034] When the robotic arm is working, first, it is necessary to calibrate the position of any of the positioning holes. By aligning the position of the positioning hole, the spatial positional relationship between the mold and the robotic arm is determined, and the positions of the two are adjusted through the workpiece coordinates of the mold and the tool coordinates of the robotic arm.

[0035] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-station switching method for a mold cutting program, characterized in that: A fixed seat extends below the mold, and the fixed seat is fixed on the workbench; Determine the initial position of the tool of the robotic arm and record it as the tool coordinate. The tool contacts the edge of the mold and records it as the workpiece coordinate of the mold. Drill positioning holes on the fixed seat, control the robotic arm to manually position the positioning holes, determine and record the coordinates of the positioning holes, record and compare the tool coordinate and the workpiece coordinate of the mold, and program and record with the tool coordinate at the initial position of the tool as the zero position; Control the tool to perform cutting hole positioning on the mold above the positioning hole, record the cutting trajectory of the tool, and program the cutting trajectory of the tool; Copy the completed program to the robotic arm at the same process station, install and fix the mold for the same product, control the tool and the positioning hole to make contact positioning, and determine the position of the positioning hole; Calibrate the three-dimensional space coordinate positions of the robotic arm and the mold based on the positioning hole, start the program, and perform the cutting work on the mold.

2. A multi-station switching method for a die cutting program according to claim 1, characterized in that: There are several positioning holes, and the several positioning holes are arranged in an array on the circumferential surface of the fixed seat, and the several positioning holes form an XOY plane.

3. A multi-station switching method for a mold cutting program according to claim 2, characterized in that: The mold, the fixed seat and the workbench are fixed at the same angle.

4. A multi-station switching method for a die cutting program according to claim 1, characterized in that: There are fixed points on the workbench, and the tool and the fixed points make repeated contact to adjust the relative initial position of the tool and the workbench.

5. A multi-station switching method for a mold cutting program according to claim 4, characterized in that: After the robotic arm is controlled to contact the positioning hole, finely adjust the cutting program of the robotic arm to calibrate the cutting depth of the tool.

6. A multi-station switching method for a mold cutting program according to claim 1, characterized in that: There are several cutting positioning holes arranged at intervals in the cutting trajectory, record the cutting depth of the cutting positioning holes and record the programming.

7. A multi-station switching method for a die cutting program according to claim 1, characterized in that: When the tool calibrates the positioning hole, the tool does not start.

8. A multi-station switching method for a mold cutting program according to claim 1, characterized in that: The initial angle of the tool is an arbitrary angle.

Images