Coil material multi-cutting head edge finding method, device, cutting equipment and storage medium

Abstract

The present application provides a method, device, cutting equipment, and storage medium for edge finding of a coiled material using multiple cutting heads. The method includes the following steps: obtaining cutting task information; moving each cutting head to a corresponding processing starting position and recording each processing starting coordinate; controlling each cutting head to move a preset distance along a first direction and a third direction to reach the edge finding starting position, and recording each edge finding starting coordinate; controlling each cutting head to move along a fourth direction, continuously detecting the edge of the coiled material, and stopping movement after detecting that it has reached the edge, and recording each coiled material edge coordinate; obtaining the offset angle of the coiled material edge and the starting edge coordinate corresponding to each processing starting coordinate based on the coiled material edge coordinate; moving each cutting head to the corresponding starting edge coordinate, and rotating the processing coordinate system of each cutting head according to the current offset angle; and performing processing according to the processing task. The method for edge finding of a coiled material using multiple cutting heads according to the present application can quickly find the edge of the coiled material.

Description

Technical Field

[0001] The present application belongs to the field of laser processing technology, and more specifically, relates to a coil material multi-cutting head edge finding method, device, cutting equipment and storage medium. Background Art

[0002] Coil processing refers to the process of unwinding, flattening, and feeding steel coils into specialized equipment areas for processing into the desired finished product. To improve processing efficiency, laser cutting equipment can be equipped with multiple cutting heads for simultaneous processing.

[0003] Because the rollers of the leveler and feeder can experience uneven pressure during high-speed operation, the leveled coiled material doesn't move in a strictly straight line as it continues to feed the laser processing equipment, but rather sways left and right. To achieve high material utilization, the equipment leaves only a 2-3mm margin at the edge of the coiled material during processing. Even a slight deviation of the material head would exceed this range, necessitating edge tracking during coil processing. Summary of the Invention

[0004] The embodiment of the present application provides a method for edge finding of a coiled material using multiple cutting heads, which can quickly find the edge of a coiled material.

[0005] The technical solution adopted in the embodiment of the present application is to provide a method for edge finding of a coiled material with multiple cutting heads, applicable to a laser cutting device, wherein the laser cutting device includes multiple cutting heads movable along a first axis and a second axis, the second axis being perpendicular to the first axis, the coiled material conveying direction of the laser cutting device being parallel to the first axis, the first axis having a first direction and a second direction in opposite directions, and the second axis having a third direction and a fourth direction in opposite directions, the method comprising the following steps:

[0006] Acquire cutting task information, wherein the cutting task information includes task length;

[0007] Moving each cutting head to a corresponding processing starting position, wherein each processing starting position is arranged in sequence along the conveying direction, and a distance between two adjacent processing starting positions is equal to the task length, and recording each processing starting coordinate;

[0008] Controlling each cutting head to move a preset distance along the first direction and the third direction to reach an edge-finding starting position, wherein at the starting position, the projection of the cutting head on the plane where the web is located falls within the range of the web, and recording each edge-finding starting coordinate;

[0009] Controlling each cutting head to move along the fourth direction, and during the movement, each cutting head continuously detects the edge of the web, stops moving after detecting that the edge has been reached, and records the coordinates of each web edge;

[0010] According to the coil edge coordinates, obtaining the current offset angle of the coil edge and the starting edge coordinates corresponding to each processing starting coordinate;

[0011] Moving each cutting head to the corresponding starting edge coordinate, and rotating the processing coordinate system of each cutting head according to the current offset angle;

[0012] The laser cutting equipment performs processing according to the cutting task.

[0013] Furthermore, the number of the cutting heads is n, n≥2, the task length is L, and along the first direction, the distance between the processing start position and the edge of the machine tool of the laser cutting equipment is greater than or equal to nL.

[0014] Furthermore, when n≥3, the step of obtaining the current offset angle of the edge of the coil according to the coordinates of the edge of the coil includes:

[0015] Obtaining at least two offset angles according to the coordinates of every two adjacent edges of the coil;

[0016] Based on any two of the offset angles, determining whether a difference between the two offset angles exceeds an allowable deviation range;

[0017] If so, an alarm signal is issued and the current task processing is stopped;

[0018] If not, the offset angle is used as the current offset angle.

[0019] Further, in the step of taking the offset angle as the current offset angle if no,

[0020] The multiple cutting heads are arranged in sequence, and the offset angle calculated based on the web edge coordinates corresponding to the first cutting head and the second cutting head is used as the current offset angle.

[0021] Furthermore, the method further includes the following steps after the step of obtaining the current offset angle of the coil edge and the starting edge coordinates corresponding to each processing starting coordinate based on the coil edge coordinates:

[0022] Comparing the current offset angle with the pre-stored offset angle to confirm whether it is within the allowable deviation range;

[0023] If so, executing the steps of moving each cutting head to the corresponding starting edge coordinate and rotating the machining coordinate system of each cutting head according to the current offset angle;

[0024] If not, an alarm signal will be issued and the current task processing will be stopped.

[0025] Furthermore, the pre-stored offset angle is the current offset angle saved in the previous task;

[0026] After the processing task is completed, the current offset angle is saved as a pre-stored offset angle.

[0027] Furthermore, when the cutting heads move, along the positioning direction, the leading cutting head moves to a position before the trailing cutting head or moves to a position simultaneously.

[0028] The present application also provides a coil material multi-cutting head edge-finding device applicable to laser cutting equipment, wherein the laser cutting equipment has multiple cutting heads movable along a first axis and a second axis, the second axis being perpendicular to the first axis, the coil material conveying direction of the laser cutting equipment being parallel to the first axis, the first axis having a first direction and a second direction in opposite directions, and the second axis having a third direction and a fourth direction in opposite directions, the device comprising:

[0029] A data acquisition module, configured to acquire cutting task information, wherein the cutting task information includes a task length;

[0030] a processing starting position determination module, configured to move each cutting head to a corresponding processing starting position, wherein each processing starting position is sequentially arranged along the conveying direction, with the distance between two adjacent processing starting positions being equal to the task length, and record each processing starting coordinate;

[0031] an edge point search module for controlling each of the cutting heads to move a preset distance along the first direction and the third direction to reach an edge search starting position, wherein when at the starting position, the projection of the cutting head on the plane where the web is located falls within the range of the web, and each edge search starting coordinate is recorded; and further for controlling each of the cutting heads to move along the fourth direction, wherein each of the cutting heads continuously detects the edge of the web during movement, stops moving after detecting that it has reached the edge, and records the coordinates of each web edge;

[0032] a calculation module, configured to obtain, based on the coil edge coordinates, a current offset angle of the coil edge and a starting edge coordinate corresponding to each processing starting coordinate;

[0033] The cutting head adjustment module is used to move each cutting head to the corresponding starting edge coordinate and rotate the processing coordinate system of each cutting head according to the current offset angle.

[0034] An embodiment of the present application also provides a laser cutting device, which includes a processor, a memory, and a plurality of cutting heads movable along a first axis and a second axis, wherein the second axis is perpendicular to the first axis, and the conveying direction of the coil of the laser cutting device is parallel to the first axis. The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method described above.

[0035] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the method described above.

[0036] The beneficial effect of the coil material multi-cutting head edge-finding method provided in the embodiment of the present application is that: the coil material multi-cutting head edge-finding method of the embodiment of the present application controls the spacing between the cutting heads according to the task length, then synchronously moves each cutting head to the edge-finding starting position, and simultaneously moves in a fourth direction for edge-finding, the fourth direction being opposite to the third direction, to obtain multiple coil material edge coordinates. The current offset angle of the coil material edge and the corresponding starting edge coordinates can be calculated based on the edge-finding starting position and the coil material edge coordinates. The position and coordinate system of each cutting head are then adjusted based on the current offset angle and the corresponding starting edge coordinates before processing. This solution uses multiple cutting heads to simultaneously perform edge-finding to obtain multiple coil material edge coordinates. Only one edge-finding operation is required to obtain the coil material position and process it. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 A schematic diagram of the process flow of the coil material multi-cutting head edge finding method provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of a coil provided in an embodiment of the present application on a machine tool surface;

[0040] Figure 3 A schematic diagram of the coordinates of the three cutting heads during edge-finding movement provided in an embodiment of the present application.

[0041] Among them, the reference numerals in the figures are:

[0042] 10. Machine tool format;

[0043] 20. Coil; 21. Coil edge;

[0044] 30. Cutting task graphics. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0047] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0049] See also Figure 1 , the coil material multi-cutting head edge finding method provided in the embodiment of the present application is now described.

[0050] The embodiment of the present application provides a coil material multi-cutting head edge finding method suitable for laser cutting equipment.

[0051] The laser cutting equipment includes a plurality of cutting heads movable along a first axis and a second axis, wherein the second axis is perpendicular to the first axis, and the conveying direction of the coil 20 of the laser cutting equipment is parallel to the first axis. The first axis may be in the direction of the X-axis, and the first axis has a first direction and a second direction, the first direction and the second direction being opposite. In some embodiments, the first direction is the positive direction of the first axis, and the second direction is the negative direction of the first axis. In other embodiments, the first direction is the negative direction of the first axis, and the second direction is the positive direction of the first axis.

[0052] Correspondingly, the second axis is the Y-axis, and the second axis has a third direction and a fourth direction, the third direction and the fourth direction being opposite. In some embodiments, the third direction is the positive direction of the second axis, and the fourth direction is the negative direction of the second axis. In other embodiments, the third direction is the negative direction of the second axis, and the fourth direction is the positive direction of the second axis.

[0053] When the coil 20 is transported on the laser cutting device, it is parallel to the first axis, that is, it is transported along the X-axis. In some embodiments, the transport direction of the coil is the negative direction of the X-axis.

[0054] Specifically, the laser cutting device includes a beam that carries a cutting head for movement and positioning, and can achieve movement parallel to the feeding direction (X axis) and perpendicular to the feeding direction (Y axis) of the coil 20.

[0055] The coil 20 is conveyed along its length during processing. Since the coil 20 is long and continuous, there is no need to detect the position of its wide side; only the position of its long side is required. Furthermore, the width of the coil 20 is fixed, so only the position of a single long side needs to be detected.

[0056] Reference Figure 1 , the method comprises the following steps:

[0057] S10: Obtain cutting task information, including the task length L. This information can be input by the operator or retrieved from a pre-defined task library. In the embodiment of the present application, the cutting task graphic 30 is a parallelogram. The task length is the distance between the two points at the same Y-axis coordinate, farthest in the X-axis direction, for example, the long side L of the parallelogram.

[0058] S20: Move each cutting head to the corresponding processing starting position, and the processing starting positions are arranged in sequence along the conveying direction. The distance between two adjacent processing starting positions is equal to the task length, and record each processing starting coordinate.

[0059] The processing start position is the starting position of the processing task. For example, if the machine tool width 10 is 3000mm and the processing task length L is 500mm, and there are four cutting heads arranged in a row, then the total length of the task cut at one time is 2000mm. The processing start position of the first cutting head can be anywhere in the range of 0mm-1000mm. If it exceeds 1000mm, the current task cannot be processed. Therefore, the processing start position is the starting point of each cutting head for subsequent cutting. Each cutting head corresponds to a processing start position.

[0060] Specifically, refer to Figure 2 and Figure 3For example, consider three cutting heads. These are A, B, and C, with A being the primary cutting head. These three heads are arranged in a row and positioned at their corresponding starting positions. Their coordinates are (Xa0, Ya0), (Xb0, Yb0), and (Xc0, Yc0), where Xb0 = Xa0 + L, Xc0 = Xb0 + L, and Ya0 = Yb0 = Yc0.

[0061] S30: Control each cutting head to move a preset distance along the first direction and the third direction to reach the edge-finding starting position. When at the starting position, the projection of the cutting head on the plane where the coil is located falls within the range of the coil, and record each edge-finding starting coordinate.

[0062] Move each cutting head in the first direction and the third direction, that is, move it toward the inside of the coil 20, to ensure that each cutting head is located within the area of ​​the coil 20, so that it can move from within the area of ​​the coil 20 to outside the area when searching for the edge, and then determine the edge of the coil 20.

[0063] Reference Figure 2 and Figure 3 After each cutting head moves to the edge-seeking starting position, the edge-seeking starting coordinates are (Xa1, Ya1), (Xb1, Yb1), and (Xc1, Yc1), where Xa0≤Xa1≤L and Ya1≥Ya0.

[0064] S40: Control each cutting head to move along a fourth direction, which is opposite to the third direction. During the movement, each cutting head continuously detects the edge 21 of the web, stops moving after detecting that it has reached the edge, and records the coordinates of each web edge.

[0065] Each cutting head is equipped with a sensor that continuously detects the distance between it and the web 20 below. As the sensor moves from above the web 20 to outside it, the distance value changes significantly, allowing the sensor to determine the edge of the web 20 and read the web edge coordinates. Each cutting head corresponds to a web edge coordinate. Since each cutting head moves only in the fourth direction, the web edge coordinates are (Xa1, Ya1'), (Xb1, Yb1'), and (Xc1, Yc1'), respectively.

[0066] Specifically, the sensor may be a capacitive sensor, a photoelectric sensor, a laser sensor, an ultrasonic sensor or a visual sensor.

[0067] S50: According to the edge coordinates of the coil material, the current offset angle R of the edge of the coil material 20 and the starting edge coordinates corresponding to each processing starting coordinate are obtained.

[0068] The current offset angle R is the angle between the coil edge 21 and the first axis (ie, the X axis). Figure 2 and Figure 3 Since two points determine a straight line, the offset angle of the coil edge 21 can be calculated using the point-slope straight line equation. The calculation is performed using any two coil edge coordinates, for example (Xa1, Ya1') and (Xb1, Yb1'). The current offset angle R=arctan[(Yb1'-Ya1') / (Xb1-Xa1)].

[0069] The starting edge coordinates refer to the coordinates of the edge that is equal to the X-axis coordinates of the machining starting position. Specifically, they are the coordinates of the point where a straight line parallel to the Y-axis, passing through the machining starting position, intersects the web edge 21. For example, if the machining starting coordinates of cutting head A are (Xa0, Ya0), then according to the principle of similar triangles, the corresponding starting edge coordinates of cutting head A are (Xa0, Ya0').

[0070] Among them, Ya0'=(Yb1'-Ya1') / (Xb1-Xa1)*(Xa0-Xa1)+Ya1'.

[0071] Correspondingly, the machining starting coordinates of the cutting head B are (Xb0, Yb0), and the starting edge coordinates corresponding to the cutting head B are (Xb0, Yb0').

[0072] Among them, Yb0'=(Yc1'-Yb1') / (Xc1-Xb1)*(Xb0-Xb1)+Yb1'.

[0073] Correspondingly, the machining starting coordinates of the cutting head C are (Xc0, Yc0), and the starting edge coordinates corresponding to the cutting head C are (Xc0, Yc0').

[0074] Among them, Yc0'=(Yb1'-Ya1') / (Xb1-Xa1)*(Xc0-Xa1)+Ya1'.

[0075] S70: Move each cutting head to the corresponding starting edge coordinate, and rotate the processing coordinate system of each cutting head according to the current offset angle R.

[0076] That is, the position and coordinate system of each cutting head are corrected according to the calculated starting edge coordinates and offset angle R, ensuring that the coordinate system and position of the cutting head are adapted to the deflection of the coil 20 .

[0077] S80: Laser cutting equipment performs processing according to the processing task.

[0078] Furthermore, the number of cutting heads is n, n≥2, the task length is L, and along the first direction, the distance between the processing start position and the edge of the machine tool format 10 of the laser cutting equipment is greater than or equal to nL. That is, as mentioned above, the different number of cutting heads will affect the different processing start positions. For example, the machine tool format 10 is 3000mm, and the processing task length L is 1000mm. If there are 2 cutting heads and the cutting heads are arranged in a row, then the total task length of one cutting is 2000mm, and the processing start position of the first cutting head can be any position in the range of 0mm-1000mm. If it exceeds 1000mm, the current task cannot be processed. Therefore, the processing start position is the cutting start position of each cutting head when it performs subsequent cutting, and each cutting head corresponds to a processing start position.

[0079] Furthermore, when n≥3, three or more web edge coordinates are obtained in step S40 . Then, in step S50 , a current offset angle R is calculated from every two web edge coordinates, and one of them needs to be selected as the current offset angle R.

[0080] Step S50: The step of obtaining the current offset angle of the edge of the coil 20 according to the edge coordinates of the coil includes:

[0081] S501: Obtain at least two offset angles based on the coordinates of every two adjacent coil edges. Taking three cutting heads as an example, three current offset angles R will be obtained, which are:

[0082] Ra=arctan[(Yb1'-Ya1') / (Xb1-Xa1)];

[0083] Rb=arctan[(Yc1'-Yb1') / (Xc1-Xb1)];

[0084] Rc=arctan[(Yc1'-Ya1') / (Xc1-Xa1)].

[0085] S502: Based on any two offset angles, confirm whether the difference between the two offset angles exceeds an allowable deviation range.

[0086] The current offset angles R obtained are all the deflection angles of the same side relative to the X-axis. Theoretically, they should be equal. However, due to mechanical equipment errors and coil feeding deviations, there will be differences between the three angles. It is necessary to determine whether the equipment is normal based on the deviations between the angles.

[0087] S503: If yes, an alarm is issued and the current task processing is stopped. If the difference between the three angles is outside the deviation range, it indicates that the equipment is abnormal, such as the position of the cutting head or the edge detection sensor is abnormal, or the coil feed is offset too much and needs to be adjusted.

[0088] S504: If not, an offset angle is used as the current offset angle. If the difference between the angles does not exceed the deviation range, it means that the device is normal and any angle can be used as the front offset angle R.

[0089] Specifically, if not, then in the step of using an offset angle as the current offset angle, multiple cutting heads are arranged in sequence, and the offset angle calculated based on the web edge coordinates corresponding to the first cutting head and the second cutting head is used as the current offset angle. That is, the value related to the main cutting head, that is, Ra, is usually used as the front offset angle R.

[0090] The method further includes the following steps after the step of obtaining the current offset angle of the edge of the coil 20 and the starting edge coordinates corresponding to each processing starting coordinate based on the coil edge coordinates:

[0091] S601: Compare the current offset angle with the pre-stored offset angle to confirm whether it is within the allowable deviation range. On the same device, the skew angle of each roll 20 conveyed will vary, but generally will be within an appropriate range. Excessive variations indicate a possible anomaly in the conveying of the roll 20. Therefore, the skew angle must be determined to avoid excessive variations. This pre-stored offset angle can be the average of the skew angles from multiple conveyances of the roll 20, or the skew angle from the last cutting task.

[0092] S602: If yes, then the steps of moving each cutting head to the corresponding starting edge coordinate and rotating the machining coordinate system of each cutting head according to the current offset angle are executed. If the deviation is within the allowable range, it means that the coil 20 is conveyed normally and subsequent cutting can be continued.

[0093] S603: If not, an alarm signal is issued and the current task processing is stopped. This indicates that the coil 20 is being transported abnormally, which may cause a malfunction or safety accident. Therefore, an alarm signal is issued and the current task processing is stopped, and an operator is required to come and investigate the problem.

[0094] Furthermore, the pre-stored offset angle is the current offset angle saved from the previous task; after the processing task is completed, the current offset angle is saved as the pre-stored offset angle. That is, after each task is completed, the current offset angle of the task is saved and used as the pre-stored offset angle for the next task.

[0095] Furthermore, when each cutting head moves, the leading cutting head moves and positions ahead of the trailing cutting head or simultaneously along the positioning direction. This means the leading cutting head moves first, or all cutting heads move simultaneously, to avoid collisions between the cutting heads. For example, if the entire machine needs to move to the right, cutting head C moves into position first, followed by cutting head B, and finally cutting head A, to avoid collisions. Alternatively, all three cutting heads can move simultaneously.

[0096] The present application also provides a coil material multi-cutting head edge-finding device applicable to laser cutting equipment. The laser cutting equipment includes multiple cutting heads that can move along a first axis and a second axis. The second axis is perpendicular to the first axis. The first axis has a first direction and a second direction that are opposite in direction. The second axis has a third direction and a fourth direction that are opposite in direction. The laser cutting equipment conveys a coil material 20 along the first direction. The device includes:

[0097] A data acquisition module is used to obtain cutting task information, including task length;

[0098] The processing starting position determination module is used to move each cutting head to the corresponding processing starting position. The processing starting positions are arranged in sequence along the conveying direction. The distance between two adjacent processing starting positions is equal to the task length, and the processing starting coordinates are recorded.

[0099] an edge point search module for controlling each cutting head to move a preset distance along the first axis and the third direction to reach an edge search starting position, and recording each edge search starting coordinate; and further for controlling each cutting head to move along a fourth direction, which is opposite to the third direction, and for each cutting head to continuously detect the edge 21 of the web during movement, until it detects that it has reached the edge, stops moving, and records each web edge coordinate;

[0100] A calculation module, for obtaining, based on the edge coordinates of the coil, a current offset angle of the edge of the coil 20 and a starting edge coordinate corresponding to each processing starting coordinate;

[0101] The cutting head adjustment module is used to move each cutting head to the corresponding starting edge coordinate and rotate the processing coordinate system of each cutting head according to the current offset angle.

[0102] Since the principle of solving the problem of the multi-cutting head edge-finding device for roll materials in the embodiment of the present application is similar to that of the embodiment of the multi-cutting head edge-finding method for roll materials, the implementation of the multi-cutting head edge-finding device for roll materials in this embodiment can refer to the description in the embodiment of the multi-cutting head edge-finding method for roll materials, and the repeated parts will not be repeated.

[0103] An embodiment of the present application also provides a laser cutting device, which includes a processor, a memory, and multiple cutting heads that can move along a first axis and a second axis. The second axis is perpendicular to the first axis. The conveying direction of the coil 20 of the laser cutting device is parallel to the first axis. The memory stores a computer program. When the computer program is executed by the processor, the processor executes the steps of the above method.

[0104] Since the principle of solving the problem by the laser cutting equipment in the embodiment of the present application is similar to that in the aforementioned embodiment of the method for finding the edge of a multi-material cutting head, the implementation of the laser cutting equipment in this embodiment can refer to the description in the embodiment of the method for finding the edge of a multi-material cutting head, and the repeated parts will not be repeated.

[0105] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the steps of the above method.

[0106] The system of the embodiment of the present application includes the edge-finding method of multiple cutting heads for coiled materials in any of the above embodiments, and therefore has the beneficial effects brought by the edge-finding method of multiple cutting heads for coiled materials in any of the above embodiments, which will not be repeated here.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed devices can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0108] In addition, the functional modules in each embodiment of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0109] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0110] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for edge finding of a coiled material with multiple cutting heads, applicable to laser cutting equipment, wherein the laser cutting equipment comprises multiple cutting heads movable along a first axis and a second axis, the second axis being perpendicular to the first axis, the coiled material conveying direction of the laser cutting equipment being parallel to the first axis, the first axis having a first direction and a second direction in opposite directions, the second axis having a third direction and a fourth direction in opposite directions, and characterized in that: The method comprises the following steps: Acquire cutting task information, wherein the cutting task information includes task length; Moving each cutting head to a corresponding processing starting position, wherein each processing starting position is arranged in sequence along the conveying direction, and a distance between two adjacent processing starting positions is equal to the task length, and recording each processing starting coordinate; Controlling each cutting head to move a preset distance along the first direction and the third direction to reach an edge-finding starting position, wherein at the starting position, the projection of the cutting head on the plane where the web is located falls within the range of the web, and recording each edge-finding starting coordinate; Controlling each cutting head to move along the fourth direction, and during the movement, each cutting head continuously detects the edge of the web, stops moving after detecting that the edge has been reached, and records the coordinates of each web edge; According to the coil edge coordinates, obtaining the current offset angle of the coil edge and the starting edge coordinates corresponding to each processing starting coordinate; Moving each cutting head to the corresponding starting edge coordinate, and rotating the processing coordinate system of each cutting head according to the current offset angle; The laser cutting equipment performs processing according to the cutting task information.

2. The coil material multi-cutting head edge finding method according to claim 1, characterized in that: The number of the cutting heads is n, n≥2, the task length is L, and along the first direction, the distance between the processing start position and the edge of the machine tool of the laser cutting equipment is greater than or equal to nL.

3. The coil material multi-cutting head edge finding method according to claim 2, characterized in that: When n≥3, the step of obtaining the current offset angle of the edge of the coil according to the coordinates of the edge of the coil includes: Obtaining at least two offset angles according to the coordinates of every two adjacent edges of the coil; Based on any two of the offset angles, determining whether a difference between the two offset angles exceeds an allowable deviation range; If so, an alarm signal is issued and the current task processing is stopped; If not, the offset angle is used as the current offset angle.

4. The coil material multi-cutting head edge finding method according to claim 3, characterized in that: If not, then in the step of using the offset angle as the current offset angle, The multiple cutting heads are arranged in sequence, and the offset angle calculated based on the web edge coordinates corresponding to the first cutting head and the second cutting head is used as the current offset angle.

5. The coil material multi-cutting head edge finding method according to claim 1, characterized in that: The method further includes the following steps after obtaining the current offset angle of the coil edge and the starting edge coordinates corresponding to each processing starting coordinate according to the coil edge coordinates: Comparing the current offset angle with the pre-stored offset angle to confirm whether it is within the allowable deviation range; If so, executing the steps of moving each cutting head to the corresponding starting edge coordinate and rotating the machining coordinate system of each cutting head according to the current offset angle; If not, an alarm signal will be issued and the current task processing will be stopped.

6. The coil material multi-cutting head edge finding method according to claim 5, characterized in that: The pre-stored offset angle is the current offset angle saved in the previous task; After the processing task is completed, the current offset angle is saved as a pre-stored offset angle.

7. The coil material multi-cutting head edge finding method according to claim 1, characterized in that: When the cutting heads move, along the positioning direction, the leading cutting head moves to a position before the trailing cutting head or moves to a position simultaneously.

8. A coil material multi-cutting head edge-finding device, suitable for laser cutting equipment, wherein the laser cutting equipment has multiple cutting heads that can move along a first axis and a second axis, the second axis being perpendicular to the first axis, the coil material conveying direction of the laser cutting equipment being parallel to the first axis, the first axis having a first direction and a second direction in opposite directions, and the second axis having a third direction and a fourth direction in opposite directions, characterized in that: The device comprises: A data acquisition module is used to acquire cutting task information, wherein the cutting task information includes task length; a processing starting position determination module, configured to move each cutting head to a corresponding processing starting position, wherein each processing starting position is sequentially arranged along the conveying direction, with the distance between two adjacent processing starting positions being equal to the task length, and record each processing starting coordinate; an edge point search module for controlling each of the cutting heads to move a preset distance along the first direction and the third direction to reach an edge search starting position, wherein when at the starting position, the projection of the cutting head on the plane where the web is located falls within the range of the web, and each edge search starting coordinate is recorded; and further for controlling each of the cutting heads to move along the fourth direction, wherein each of the cutting heads continuously detects the edge of the web during movement, stops moving after detecting that it has reached the edge, and records the coordinates of each web edge; a calculation module, configured to obtain, based on the coil edge coordinates, a current offset angle of the coil edge and a starting edge coordinate corresponding to each processing starting coordinate; The cutting head adjustment module is used to move each cutting head to the corresponding starting edge coordinate and rotate the processing coordinate system of each cutting head according to the current offset angle.

9. A laser cutting device, characterized in that: The laser cutting equipment includes a processor, a memory and a plurality of cutting heads movable along a first axis and a second axis, wherein the second axis is perpendicular to the first axis, and the conveying direction of the coil of the laser cutting equipment is parallel to the first axis. The memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 7.

Images