A method for acquiring six-point clamping jaw fixing points of a general rigid plate

Abstract

The present application relates to the technical field of industrial automation plate positioning, and specifically relates to a method for acquiring a six-point clamping jaw fixing point of a general rigid plate, which comprises the following steps: (1) configuring a file and importing a standard DXF file containing a graph, analyzing and acquiring a processing graph; determining whether the processing graph is connected at the beginning and the end and closed; if yes, the next step is entered; (2) determining whether the processing graph is legal; if yes, a limiting position is drawn, and a calculation auxiliary line is generated for user dragging; (3) segmenting the legal processing graph, and acquiring graph data after segmentation; after the graph data after segmentation is offset and expanded outward according to the radius of a positioning clamp or a positioning wheel, a round corner compensation is performed, a moving path of the positioning clamp or the positioning wheel is obtained, an auxiliary line that can be moved by a user is generated, and a positioning point is determined. The method can realize high-precision, simple operation, strong universality and intuitive calculation process of plate positioning for supporting complex special-shaped plates.

Description

Technical Field

[0001] This invention relates to the field of industrial automation sheet metal positioning technology, and in particular to a method for obtaining the fixing points of a universal rigid sheet metal six-point gripper. Background Technology

[0002] Industrial automated production often involves the processing of sheet materials, such as the edging and polishing of glass. Such operations require precise positioning of the sheet materials, which is usually achieved by using mechanical clamps or vacuum suction cups for positioning.

[0003] Mechanical clamping and positioning utilizes mechanical clamps to hold and fix the sheet metal. Typically, the clamping position is calculated manually, and the clamping point is manually adjusted or calculated and then input into an automated system. The automated system adjusts the clamps so that the grippers hold the edges of the sheet metal, achieving fixation and positioning. Vacuum chuck positioning, on the other hand, uses a chuck to lift the workpiece from a fixed position. The positioning table is equipped with positioning clamps or wheels. Based on the relative position of the workpiece and the chuck, the movement position of each clamp or positioning wheel is calculated according to the workpiece shape and the radius of the clamps or positioning wheels. Multiple clamps or positioning wheels push the sheet metal to a position below the chuck relative to the chuck, and the chuck lifts the workpiece and places it in a fixed position on the processing table, achieving positioning.

[0004] Among the methods described above, manually fixing the fixture is inefficient, and inconsistent clamping positions can lead to poor machining consistency. Automated clamping requires calculating the clamping points and inputting them into the system, which is time-consuming, prone to errors due to manual calculations, and lacks intuitiveness. Using vacuum chucks for clamping point calculation requires first considering the relative position of the workpiece and the chuck, then calculating the position of each locator pushing the workpiece; this calculation process is complex and difficult to perform for irregularly shaped workpieces. Both clamping and chuck positioning require different calculations for specific workpieces, which is time-consuming, labor-intensive, and doesn't allow for immediate observation of the positioning points.

[0005] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0006] The purpose of this invention is to overcome the problems of the prior art and provide a method for obtaining the fixing points of a six-point gripper for a general rigid plate, so as to solve the technical problems of the prior art, such as complex calculation process, low accuracy, poor adaptability and unintuitive calculation process.

[0007] The above objectives are achieved through the following technical solutions:

[0008] A method for obtaining the fixing points of a universal rigid plate six-point gripper includes:

[0009] Step (1) Configure and import a standard DXF file containing graphics, parse and obtain the processing graphics; determine whether the processing graphics are connected end to end and closed; if yes, proceed to step (2); if no, prompt the user that the file is invalid and stop.

[0010] The parameters of the configuration file include the height limit of the positioning platform, the width limit of the positioning platform, and the radius of the positioning clamp or positioning wheel.

[0011] Step (2) Determine whether the processing graphic is valid; if yes, draw the limit and generate calculation auxiliary lines for the user to drag; if no, prompt the user that the size exceeds the limit and stop.

[0012] Step (3) Divide the legal processing graphic into segments and obtain the segmented graphic data; after the segmented graphic data is offset outward according to the radius of the positioning clamp or positioning wheel, fillet compensation is performed to obtain the movement path of the positioning clamp or positioning wheel, and an auxiliary line that can be moved by the user is generated to determine the positioning point.

[0013] Further, in step (2), the determination of whether the processed pattern is valid; if so, then drawing a limit switch; specifically, based on the maximum and minimum values ​​of the outer diameter of the processed pattern, determining whether the processed pattern meets the following conditions: ,

[0014] In the formula, This represents the maximum value of the outer diameter of the envelope. This is the minimum value of the outer diameter of the envelope. To limit the height of the positioning platform, To limit the width of the positioning stage;

[0015] If the conditions are met, the maximum machining limit is drawn as follows:

[0016] ,

[0017] In the formula, Left edge The right edge The upper edge, The bottom edge;

[0018] The minimum limit is drawn based on the user-configured machine structure parameters, as shown in the following formula:

[0019] ,

[0020] ,

[0021] In the formula, Minimum horizontal limit distance, For the minimum left limit, This is the minimum right limit.

[0022] Further, in step (2), generating the calculation auxiliary lines specifically involves: aligning the central auxiliary line with the Y-axis, and setting two movable auxiliary lines as follows: and The initial positions are respectively and The range of movement of the guide line satisfies the following conditions, allowing the user to freely drag the guide line or input the distance of the guide line from the center:

[0023] ,

[0024] .

[0025] Further, in step (3), the legal processing graphic is segmented and the segmented graphic data is obtained, specifically: the legal processing graphic is split into left and right parts for offset calculation, and the legal processing graphic is set as... After splitting, it becomes a left-processing graphic and a right-processing graphic, as shown in the following formula:

[0026] ,

[0027] ,

[0028] In the formula, The left-hand processing graphic after splitting. This is the right-hand processing graphic after splitting.

[0029] Further, in step (3), the segmented graphic data is offset outward according to the radius of the positioning clamp or positioning wheel, and then rounded corner compensation is performed to obtain the movement path of the positioning clamp or positioning wheel. Specifically, the offset result is set as follows: The positioning wheel is The radius of the positioning wheel is The calculated corresponding positioning point is Taking the left-side segmented graphic as an example, the calculation of the positioning points is as follows:

[0030] First, calculate the left offset path of the corresponding positioning wheel. As shown in the following formula:

[0031] ,

[0032] Then, using the intersection of the auxiliary line on the corresponding side and the offset path, we can determine the position that the corresponding wheel should move to, as shown in the following formula: ,

[0033] .

[0034] Furthermore, it also includes collision detection for all positioning wheels. If an interference occurs at a positioning point, it is marked in red as feedback, and the valid attribute of the calculated point is set to false.

[0035] This invention provides a method for obtaining the fixing points of a universal six-point gripper for rigid sheet metal. The method initializes the positioning system by pre-setting machine information such as processing range, limits, and the radius of the positioning clamp or positioning wheel in a configuration file. It imports a standard DXF file and identifies the processing graphic. Positioning points are obtained by manually dragging the positioning axis or inputting the axis distance. The method supports real-time preview and collision detection, supports different machine models, and supports complex graphics. It is accurate, convenient, and fast. The calculation method is simple and can be combined with automated processing equipment or production lines to achieve automated processing of various rigid sheet metals, eliminating the need for manual calculation of gripper or positioning points. It also has the following advantages:

[0036] 1. Simple calculation method and intuitive calculation process: This method is easy to use. It uses standard DXF files to calculate positioning points. Users only need to import the graphics and adjust the position of the positioning points according to the process requirements. After importing the file, the processing area and limit are displayed directly. The position of the positioning points is updated in real time during the adjustment process. The interactive logic is clear and the calculation process is intuitive.

[0037] 2. Accurate and reliable positioning points: The entire calculation process for positioning points in this method is clear and explicit. The final calculation results are more accurate and reliable than manual calculations. Furthermore, users do not need to consider workpiece volume exceeding limits or interference from positioning wheels or grippers. All of the above judgments are completed by the program and prompts are given to the user, ensuring accuracy and reliability.

[0038] 3. High adaptability: This method can calculate reasonable clamping points for irregularly shaped workpieces that are difficult to handle manually, such as complex shapes composed of various curves. The internal algorithm calculates these points. This invention uses six points as positioning points, which can reasonably and safely position plates of various materials, such as glass, steel plates, and wood panels, and can be applied to a variety of fields.

[0039] 4. Applicable to automated processing: This method supports the direct transmission of positioning point data to the PLC, which can be adapted to the production equipment based on the transmitted data, ultimately achieving automated production and eliminating the tediousness and errors of manual calculation of positioning points. Attached Figure Description

[0040] Figure 1 This is a flowchart of a method for obtaining the fixing points of a universal rigid plate six-point gripper as described in this invention;

[0041] Figure 2 This is a schematic diagram of a method for obtaining the fixing points of a universal rigid plate six-point gripper as described in this invention;

[0042] Figure 3 This is a flowchart illustrating the process of importing machining graphics in a method for obtaining the fixing points of a universal rigid plate six-point gripper as described in this invention.

[0043] Figure 4 This is a flowchart illustrating the calculation of positioning points in a method for obtaining the fixing points of a universal rigid plate six-point gripper as described in this invention.

[0044] Figure 5 This is a schematic diagram showing the results of real-time calculation of positioning points in the method for obtaining the fixing points of a universal rigid plate six-point gripper as described in this invention. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. The described embodiments are merely some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] like Figures 1-4 As shown, this solution provides a method for obtaining the fixing points of a universal rigid plate six-point gripper, including the following steps:

[0047] Step (1) Configure and import a standard DXF file containing graphics, parse and obtain the processing graphics; determine whether the processing graphics are connected end to end and closed; if yes, proceed to step (2); if no, prompt the user that the file is invalid and stop.

[0048] The parameters of the configuration file include the height limit of the positioning platform, the width limit of the positioning platform, and the radius of the positioning clamp or positioning wheel.

[0049] Step (2) Determine whether the processing graphic is valid; if yes, draw the limit and generate calculation auxiliary lines for the user to drag; if no, prompt the user that the size exceeds the limit and stop.

[0050] Step (3) Divide the legal processing graphic into segments and obtain the segmented graphic data; after the segmented graphic data is offset outward according to the radius of the positioning clamp or positioning wheel, fillet compensation is performed to obtain the movement path of the positioning clamp or positioning wheel, and an auxiliary line that can be moved by the user is generated to determine the positioning point.

[0051] like Figure 5 The image shown is a schematic diagram illustrating the results of real-time calculation of positioning points using this method.

[0052] like Figure 3 As shown, as an optimization of step (1) in this embodiment, it includes:

[0053] Step (1-1) System Initialization:

[0054] Before starting the system, write the conditions for calculating the positioning point into the configuration file. Some important parameters include: the limit width and height of the positioning table, the minimum positioning limit, and the radius of the six positioning clamps or positioning wheels.

[0055] All parameters have default values. If no corresponding parameter is specified, the default value will be used for calculation.

[0056] Step (1-2) Import the machining drawing:

[0057] Import the standard DXF file for graphic analysis to obtain the processing graphic.

[0058] The elliptical arcs and spline curves in the user input file are specially processed to serve as the criteria for determining the processed graphic. It is determined whether the imported graphic elements are connected end to end and whether they intersect. If all the judgments are valid, the conditions for becoming a processed contour are met. Then, the validity of the contour is judged, that is, whether the processed graphic is valid. Specifically, as described in step (2).

[0059] In step (2) of this embodiment, determining whether the processed pattern is valid; if so, drawing a limit switch; specifically: based on the maximum and minimum values ​​of the outer diameter of the processed pattern, determining whether the processed pattern meets the following conditions:

[0060] ,

[0061] In the formula, This represents the maximum value of the outer diameter of the envelope. This is the minimum value of the outer diameter of the envelope. To limit the height of the positioning platform, To limit the width of the positioning stage;

[0062] If the conditions are met, the maximum machining limit is drawn as follows:

[0063] ,

[0064] In the formula, Left edge The right edge The upper edge, The bottom edge;

[0065] The minimum limit is drawn based on the user-configured machine structure parameters, as shown in the following formula:

[0066] ,

[0067] ,

[0068] In the formula, Minimum horizontal limit distance, For the minimum left limit, This is the minimum right limit;

[0069] If the center of the positioning stage is set as the origin of the coordinate system (0,0), then the position of the graphic in the coordinate system is the relative position of the workpiece and the positioning stage.

[0070] In step (2) of this embodiment, generating the calculation auxiliary line specifically means:

[0071] Align the central guideline with the Y-axis, and define two movable guidelines as follows: and The initial positions are respectively and The range of movement of the guide line satisfies the following conditions, allowing the user to freely drag the guide line or input the distance of the guide line from the center:

[0072] .

[0073] like Figure 4 As shown, in order to optimize the calculation speed, step (3) involves dividing the legal processing graphic into two parts and obtaining the divided graphic data. Specifically, the legal processing graphic is divided into left and right parts for offset calculation. The legal processing graphic is set as... After splitting, it becomes a left-processing graphic and a right-processing graphic, as shown in the following formula:

[0074] ,

[0075] ,

[0076] In the formula, The left-hand processing graphic after splitting. The right-hand processing graphic after splitting;

[0077] Calculate the left processing graphic With the right-hand processing graphic The segmentation algorithm involves traversing the sub-segments and checking whether the start or end point of a sub-segment belongs to the segment based on the input parameters. and If a valid range is obtained, it is added to the corresponding segment.

[0078] Step (3) involves offsetting the segmented graphic data outward based on the radius of the positioning clamp or positioning wheel, then performing corner rounding compensation to obtain the movement path of the positioning clamp or positioning wheel. Specifically:

[0079] Set the offset result as The positioning wheel is The radius of the positioning wheel is The calculated corresponding positioning point is Taking the left-side segmented graphic as an example, the calculation of the positioning points is as follows:

[0080] First, calculate the left offset path of the corresponding positioning wheel. As shown in the following formula:

[0081] ,

[0082] Then, using the intersection of the auxiliary line on the corresponding side and the offset path, we can determine the position that the corresponding wheel should move to, as shown in the following formula: ,

[0083] .

[0084] This method also includes collision detection for all positioning wheels. If an interference occurs at a positioning point, it is marked in red as feedback, and the valid attribute of the calculated point is set to false.

[0085] In addition, to facilitate user operation and considering the need to process different materials and repeat the process, this invention also provides a history function, which can record the calculated legal graphics and the positions of the auxiliary lines set by the user according to the upper limit set by the user, and obtain the positioning point based on the above data, so as to facilitate flexible use by the user.

[0086] The above description is merely illustrative of the embodiments of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for obtaining the fixing points of a universal rigid plate six-point gripper, characterized in that, include: Step (1) Configure and import a standard DXF file containing graphics, parse and obtain the processing graphics; determine whether the processing graphics are connected end to end and closed; if yes, proceed to step (2); if no, prompt the user that the file is invalid and stop. The parameters of the configuration file include the height limit of the positioning platform, the width limit of the positioning platform, and the radius of the positioning clamp or positioning wheel. Step (2) Determine whether the processing graphic is valid; if yes, draw the limit and generate calculation auxiliary lines for the user to drag; if no, prompt the user that the size exceeds the limit and stop. Step (3) Divide the legal processing graphic into segments and obtain the segmented graphic data; after the segmented graphic data is offset outward according to the radius of the positioning clamp or positioning wheel, fillet compensation is performed to obtain the movement path of the positioning clamp or positioning wheel, and an auxiliary line that can be moved by the user is generated to determine the positioning point. In step (2), it is determined whether the processed pattern is valid; if so, a limit switch is drawn; specifically, based on the maximum and minimum values ​​of the outer diameter of the processed pattern, it is determined whether the processed pattern meets the following conditions: ， In the formula, This represents the maximum value of the outer diameter of the envelope. This is the minimum value of the outer diameter of the envelope. To limit the height of the positioning platform, To limit the width of the positioning stage; If the conditions are met, the maximum machining limit is drawn as follows: ， ， ， ， In the formula, Left edge The right edge The upper edge, The bottom edge; The minimum limit is drawn based on the user-configured machine structure parameters, as shown in the following formula: ， ， In the formula, Minimum horizontal limit distance, For the minimum left limit, This is the minimum right limit.

2. The method for obtaining the fixing points of a universal rigid plate six-point gripper according to claim 1, characterized in that, In step (2), generating the calculation auxiliary lines specifically involves aligning the central auxiliary line with the Y-axis and setting two movable auxiliary lines as follows: and The initial positions are respectively and The range of movement of the guide line satisfies the following conditions, allowing the user to freely drag the guide line or input the distance of the guide line from the center: , 。 3. The method for obtaining the fixing points of a universal rigid plate six-point gripper according to claim 2, characterized in that, Step (3) involves segmenting the valid processing graphic and obtaining the segmented graphic data. Specifically, the valid processing graphic is split into left and right parts for offset calculation. The valid processing graphic is defined as... After splitting, it becomes a left-processing graphic and a right-processing graphic, as shown in the following formula: ， ， In the formula, The left-hand processing graphic after splitting. This is the right-hand processing graphic after splitting.

4. The method for obtaining the fixing points of a universal rigid plate six-point gripper according to claim 3, characterized in that, Step (3) involves offsetting the segmented graphic data outward based on the radius of the positioning clamp or positioning wheel, then performing corner rounding compensation to obtain the movement path of the positioning clamp or positioning wheel. Specifically, the offset result is set as follows: The positioning wheel is The radius of the positioning wheel is The calculated corresponding positioning point is Taking the left-side segmented graphic as an example, the calculation of the positioning points is as follows: First, calculate the left offset path of the corresponding positioning wheel. As shown in the following formula: ， Then, using the intersection of the auxiliary line on the corresponding side and the offset path, we can determine the position that the corresponding wheel should move to, as shown in the following formula: , 。 5. The method for obtaining the fixing points of a universal rigid plate six-point gripper according to claim 4, characterized in that, It also includes collision detection for all positioning wheels. If an interference occurs at a positioning point, it is marked in red as feedback, and the valid attribute of the calculated point is set to false.

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