End socket cutting method, system and equipment and storage medium

Abstract

The invention provides an end socket cutting method, system and device and a storage medium, and relates to the technical field of cutting, the method comprises the following steps: obtaining the model of a target end socket, and calling model data corresponding to the model from a picture library; adjusting the position of a fulcrum on a workbench according to the model data to form a supporting plane for supporting the target seal head; when the target seal head is placed on the supporting plane, performing multi-phase angle scanning on the target seal head to generate point cloud data; comparing the point cloud data with the model data, judging whether the target seal head meets a preset requirement or not according to a comparison result, and if the target seal head meets the preset requirement, generating cutting data of the target seal head; and the cutting data are sent to cutting equipment corresponding to the workbench so that the cutting equipment can cut the target end socket. The end socket cutting device has the technical effect that the cutting precision of the end socket is improved.

Description

Technical Field

[0001] The present application relates to the field of cutting technology, and in particular to a head cutting method, system, equipment and storage medium. Background Art

[0002] As an important part of pressure vessels, the cutting quality of the head directly affects the safety and reliability of pressure vessels. In actual production, due to the complex curved surface structure of the head, how to achieve its precise cutting has always been a technical problem faced by the industry.

[0003] In the prior art, a fixed support frame is usually used to support and position the end cap, and the end cap is cut by a CNC cutting device. This method is simple to operate, but since the support point of the support frame is fixed, it is difficult to adapt to the support requirements of different types of end caps, and it is easy to cause workpiece deformation or unstable support. At the same time, the fixed support frame cannot be dynamically adjusted according to the actual state of the end cap, and it is difficult to ensure the cutting accuracy of the end cap. Summary of the invention

[0004] The present application provides a head cutting method, system, device and storage medium, which are used to improve the cutting accuracy of the head.

[0005] In the first aspect, the present application provides a head cutting method, the method comprising: obtaining the model of a target head and retrieving model data corresponding to the model from a gallery; adjusting the position of the fulcrum on the workbench according to the model data to form a support plane for supporting the target head; when the target head is placed on the support plane, performing a multi-phase angle scan on the target head to generate point cloud data; comparing the point cloud data and the model data, and judging whether the target head meets the preset requirements based on the comparison results, if the target head meets the preset requirements, generating cutting data for the target head; and sending the cutting data to the cutting device corresponding to the workbench so that the cutting device cuts the target head.

[0006] By adopting the above technical solution, the system first retrieves the corresponding model data according to the model of the target head, and automatically adjusts the position of the workbench fulcrum accordingly to ensure the optimal support state for the target head. Subsequently, the actual point cloud data of the head is obtained through multi-phase angle scanning and compared with the model data. It can not only detect whether the head is deformed or defective in time, but also generate accurate cutting data based on the comparison results. This cutting method based on model drive and real-time detection realizes the full control of the head support state and processing quality, significantly improves the cutting accuracy and processing efficiency, and improves the cutting accuracy of the head through standardized data processing procedures.

[0007] Optionally, adjusting the position of the fulcrum on the workbench according to the model data includes: determining the center of gravity position of the target head according to the model data; determining the target position of the fulcrum on the workbench when the target head is uniformly stressed on the workbench according to the center of gravity position, wherein the number of fulcrums is N, and N≥1; controlling the fulcrum driving device on the workbench to adjust each fulcrum to the target position; detecting the actual position of each fulcrum, and completing the fulcrum adjustment when the error between the actual position of each fulcrum and the fulcrum position is within an allowable range.

[0008] By adopting the above technical solution, the center of gravity of the target head is calculated and the optimal distribution position of the fulcrum is determined accordingly, so that the head can be supported evenly. By setting N adjustable fulcrums and using the fulcrum drive device for precise positioning, not only can the head be uniformly stressed and deformation caused by local stress concentration be avoided, but the closed-loop control mechanism of the fulcrum position can timely detect and correct the fulcrum positioning error, providing stable and reliable workpiece support conditions for subsequent cutting processes and effectively improving cutting accuracy.

[0009] Optionally, performing multi-phase angle scanning on the target head to generate point cloud data includes: controlling the visual sensor to rotate around the central axis of the target head by a preset angle, scanning the target head once at each preset angle to obtain multiple groups of scanning data; and splicing the multiple groups of scanning data to generate point cloud data.

[0010] By adopting the above technical solution, the visual sensor is controlled to perform multi-angle scanning around the center axis of the head, and multiple sets of scanning data are spliced, which effectively solves the occlusion and blind spot problems existing in single-angle scanning. This multi-phase angle scanning method not only improves the integrity and accuracy of the point cloud data, ensuring the comprehensive collection of the head surface morphology, but also eliminates the data redundancy and discontinuity between the scanning angles through data splicing processing, providing high-quality basic data for subsequent data comparison and cutting parameter generation.

[0011] Optionally, generating the cutting data of the target head includes: eliminating points with large errors from the point cloud data to obtain valid point cloud data; determining the position information and posture information of the target head on the workbench based on a comparison result of the valid point cloud data and the model data; generating a cutting edge line of the target head and torch swing angle data of each node on the cutting edge line based on the position information and the posture information; and using the cutting edge line and the torch swing angle data as the cutting data of the target head.

[0012] By adopting the above technical solution, the actual position and posture information of the target head are accurately obtained by optimizing the point cloud data and combining it with the model data, and then the cutting edge line and torch swing angle data considering the spatial position are generated. By eliminating points with large errors to improve data reliability and calculating cutting parameters based on the actual state of the workpiece, not only the accuracy of the cutting path is ensured, but also the optimal cutting of the head surface is achieved by reasonably setting the torch swing angle, effectively avoiding cutting defects caused by workpiece positioning deviation or improper posture, and improving the stability of cutting quality.

[0013] Optionally, sending the cutting data to the cutting device corresponding to the workbench so that the cutting device cuts the target head includes: determining the motion trajectory of the cutting device corresponding to the workbench according to the cutting edge line; converting the motion trajectory and the cutting torch swing angle data into control instructions for the cutting device; sending the control instructions to the cutting device so that the cutting device moves along the motion trajectory and adjusts the angle of the cutting torch according to the cutting torch swing angle data to cut the target head.

[0014] By adopting the above technical solution, the cutting edge line and the torch swing angle data are converted into specific control instructions for the cutting equipment, realizing the accurate mapping from theoretical cutting parameters to actual processing actions. The system plans the motion trajectory according to the cutting edge line, and synchronously matches the torch swing angle data with the motion trajectory, ensuring that the cutting equipment can strictly follow the preset spatial path and posture requirements during the execution process, thereby ensuring that the torch always maintains the optimal cutting angle during the cutting process, improving the continuity and accuracy of the cutting.

[0015] Optionally, after sending the cutting data to the cutting device corresponding to the workbench so that the cutting device cuts the target head, it also includes: collecting image data of the cutting point in real time during the cutting process; judging whether the cutting quality meets the cutting requirements based on the image data; when it is detected that the cutting quality does not meet the cutting requirements, adjusting the cutting parameters of the cutting device.

[0016] By adopting the above technical solution, a real-time feedback mechanism for the cutting process is established by real-time acquisition of image data during the cutting process and quality monitoring. The system can detect abnormal cutting quality in a timely manner and dynamically adjust cutting parameters to avoid the continuous expansion and accumulation of cutting defects. It not only improves the controllability and stability of the cutting process, but also ensures the final cutting quality through timely parameter optimization, reduces rework caused by unqualified cutting quality, and improves production efficiency.

[0017] Optionally, the cutting device corresponding to the workbench, after the cutting device cuts the target head, also includes: scanning the target head after cutting to obtain point cloud data after cutting; comparing the point cloud data after cutting with the cutting data to determine whether the cutting accuracy meets the accuracy requirements; if the cutting accuracy does not meet the accuracy requirements, optimizing and adjusting the cutting data, and regenerating the cutting data, so that the cutting device re-cuts the target head.

[0018] By adopting the above technical solution, a closed-loop control mechanism for cutting quality is constructed through scanning detection and data comparison analysis of the head after cutting. By comparing the actual point cloud data after cutting with the expected cutting data, the system can accurately evaluate the cutting accuracy and automatically optimize the cutting parameters for secondary processing when insufficient accuracy is found. This optimization mechanism based on measured data can not only effectively compensate for the system error in the first cutting, but also realize directional optimization through precise data analysis, improve the efficiency and accuracy of the correction cutting, and ensure that the final processing quality meets the requirements.

[0019] In a second aspect, the present application provides a head cutting system, the system comprising: an acquisition module, a determination module, a generation module, a comparison module and a cutting module; wherein the acquisition module is used to acquire the model of the target head and retrieve the model data corresponding to the model from the gallery; the determination module is used to adjust the position of the fulcrum on the workbench according to the model data to form a support plane for supporting the target head; the generation module is used to perform a multi-phase angle scan on the target head when the target head is placed on the support plane to generate point cloud data; the comparison module is used to compare the point cloud data with the model data, and determine whether the target head meets the preset requirements based on the comparison results. If the target head meets the preset requirements, the cutting data of the target head is generated; the cutting module is used to send the cutting data to the cutting device corresponding to the workbench, so that the cutting device cuts the target head.

[0020] In the third aspect, the present application provides an electronic device, which adopts the following technical solution: it includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes a computer program such as any of the above-mentioned head cutting methods.

[0021] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution: storing a computer program that can be loaded by a processor and execute any of the above-mentioned head cutting methods.

[0022] In summary, the present application includes at least one of the following beneficial technical effects: The corresponding model data is retrieved according to the model of the target head, and the position of the workbench fulcrum is automatically adjusted accordingly to ensure the optimal support state for the target head. The actual point cloud data of the head is then obtained through multi-phase angle scanning and compared with the model data. It can not only detect whether the head is deformed or defective in time, but also generate accurate cutting data based on the comparison results. This cutting method based on model drive and real-time detection realizes the full control of the head support state and processing quality, significantly improves the cutting accuracy and processing efficiency, and improves the cutting accuracy of the head through standardized data processing procedures. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of a process of a head cutting method provided in an embodiment of the present application; Figure 2 It is a structural schematic diagram of a head cutting system provided in an embodiment of the present application; Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application.

[0024] Description of reference numerals: 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0026] In the description of the embodiments of the present application, words such as "illustrative", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "illustrative", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "illustrative", "for example" or "for example" is intended to present related concepts in a concrete way.

[0027] In the existing head cutting technology, the cutting process of the head is mainly completed by manual operation. Operators usually use tools such as crowbars and hammers to adjust the position of the head, and use a tape measure for manual measurement before using plasma cutting equipment for perforation cutting. This traditional processing method has multiple problems: first, it is difficult to adjust large heads, and it is necessary to use a crane to repeatedly fine-tune, which is time-consuming and inefficient; second, the accuracy of manual measurement is limited, and it is difficult to ensure the centering of the head and the transfer platform; third, due to the large size of the head and the characteristics of the rotating surface, it is difficult to accurately measure the degree of size qualification after cutting; finally, the traditional perforation cutting method will reduce the service life of equipment accessories. These problems not only affect production efficiency, but may also lead to unstable product quality and increase production costs. Therefore, there is an urgent need for a head cutting method that can achieve automated cutting, improve processing accuracy, and extend equipment life.

[0028] Figure 1 Schematic diagram of a head cutting method provided in an embodiment of the present application. Figure 1 As shown, the method includes S101-S105: S101, obtaining the model of the target head, and retrieving the model data of the corresponding model from the library.

[0029] In the specific implementation process, the operator first needs to input the model information of the target head through the touch screen of the equipment, and the control system retrieves the 3D model data of the corresponding model from the pre-established head model library according to the input model information.

[0030] The model data contains key parameter information such as the geometric dimensions, contour features, and center of gravity of the target head. The reason why it is necessary to obtain the model and retrieve the model data is that different types of heads have different structural characteristics and processing requirements. The pre-stored standardized model data can provide a benchmark for subsequent fulcrum position adjustment, point cloud data comparison, and cutting trajectory generation. The model data is retrieved using a database retrieval method. The control system matches the model information entered by the user with the model identification in the gallery. When the corresponding model is found, the relevant three-dimensional model data is loaded into the system running memory.

[0031] S102, adjusting the position of the fulcrum on the workbench according to the model data to form a supporting plane for supporting the target end cap.

[0032] After acquiring the model data, the control system needs to adjust the position of the fulcrum on the workbench according to the geometric characteristics of the target head to ensure that the head can be stably supported during the processing.

[0033] Specifically, the control system first calculates the center of gravity position of the target head according to the model data, and determines the target position of the fulcrum based on the center of gravity position, so that the head is evenly stressed after placement. There are N fulcrums (N≥1) set on the workbench, and each fulcrum is connected to the fulcrum drive device through a screw pair. The fulcrum drive device can accurately control the movement of the fulcrum. The system calculates the spatial coordinates of each fulcrum and controls the fulcrum drive device to adjust each fulcrum to the corresponding target position. During the fulcrum adjustment process, the system detects the actual position of each fulcrum in real time. When it is detected that the error between the actual position of each fulcrum and the target position is within the allowable range, the fulcrum adjustment is completed to form a stable support plane.

[0034] This automated fulcrum adjustment method replaces the traditional method of manually adjusting the position using tools such as pry bars and hammers, which not only improves the adjustment efficiency, but also ensures the stability and force uniformity of the head after placement. At the same time, since the fulcrum position is accurately calculated based on the model data, it can effectively avoid subjective errors in the manual adjustment process and provide a stable working basis for subsequent scanning and cutting processes.

[0035] Based on the above embodiment, as an optional implementation, in S102, adjusting the position of the fulcrum on the workbench according to the model data specifically includes S21-S24: S21, determining the center of gravity position of the target head according to the model data.

[0036] S22, determining, according to the position of the center of gravity, the target position of the fulcrum on the workbench when the target end cap is subjected to uniform force on the workbench, wherein the number of the fulcrum is N, and N≥1.

[0037] S23, controlling the fulcrum driving device on the workbench to adjust each fulcrum to a target position.

[0038] S24, detecting the actual position of each fulcrum, and when the error between the actual position of each fulcrum and the fulcrum position is within an allowable range, the fulcrum adjustment is completed.

[0039] In this embodiment, in order to ensure the stability of the target end cap during the processing, the system needs to accurately adjust the position of the fulcrum on the workbench.

[0040] First, based on the retrieved model data, the system determines the coordinates of the center of gravity position of the target head through the center of mass calculation algorithm. The center of gravity position is an important reference for the subsequent fulcrum arrangement. After obtaining the center of gravity position, the system calculates the number of fulcrums N (N ≥ 1) required to achieve uniform force on the workbench and their target position coordinates based on the principles of statics and the weight distribution characteristics of the target head. Usually, three fulcrums are set on the workbench, distributed in a triangle, to provide stable support. Each fulcrum is precisely adjusted by a screw pair driven by a servo motor. The system converts the calculated target position coordinates into control instructions for the fulcrum drive device, and controls each fulcrum to move synchronously to the target position.

[0041] During the fulcrum adjustment process, the position sensor on the workbench detects the actual position coordinates of each fulcrum in real time and feeds the detection data back to the control system. The system compares the detected actual position with the calculated target position. When the error between the actual position and the target position of each fulcrum is less than the preset allowable value (usually ±0.1mm), the fulcrum adjustment is considered complete.

[0042] This automatic adjustment method based on center of gravity calculation and position feedback not only avoids the subjectivity and uncertainty of traditional manual adjustment methods, but also ensures the uniformity of force on the target head on the support plane, providing a stable working basis for subsequent scanning and cutting processes. At the same time, the accuracy of the fulcrum position is ensured through closed-loop control, which improves the reliability and processing accuracy of the entire processing system.

[0043] S103, when the target end cap is placed on the support plane, a multi-phase angle scan is performed on the target end cap to generate a point cloud number.

[0044] When the operator hoists the target head to the adjusted support plane, the system activates the visual sensor on the cross arm to perform multi-phase angle scanning on the target head.

[0045] Specifically, the system first controls the servo motor in the cross-arm mechanism to drive the visual sensor to a position relatively suitable for the head surface, and then drives the visual sensor to rotate around the central axis of the target head through the base positioning working mechanism, and scans at different phase angles. The system generally sets three phase angles to complete the scan. At each preset angle position, the visual sensor scans and collects the head surface once to obtain the scanning data at that angle. After completing the scan of all preset angles, the system will splice the multiple sets of scan data obtained to generate complete point cloud data of the head surface. The reason for using multi-phase angle scanning is that the head has complex rotating surface features. It is difficult to fully and accurately obtain the overall contour information of the head by scanning at a single angle, and multi-angle scanning can effectively avoid data loss caused by visual blind spots and improve the integrity and accuracy of data collection.

[0046] At the same time, the automatic scanning of the visual sensor replaces the traditional manual measurement method, which not only greatly improves the measurement efficiency, but also makes the acquired point cloud data more accurate and comprehensive, providing a reliable data basis for subsequent data comparison and cutting parameter calculation. After the scan is completed, the visual sensor automatically turns off and starts the lens protection cover to protect the sensor from damage during the cutting process. This automatic scanning method based on visual measurement realizes the rapid and accurate acquisition of head size data, laying the foundation for ensuring cutting quality.

[0047] Based on the above embodiment, as an optional implementation, in A103, multi-phase angle scanning is performed on the target end cap to generate point cloud data, which specifically includes S31-S32: S31, controlling the visual sensor to rotate around the central axis of the target head by a preset angle, scanning the target head once at each preset angle, and obtaining multiple sets of scanning data.

[0048] S32, stitching multiple sets of scanning data to generate point cloud data.

[0049] In this embodiment, since the target end cap has complex rotating surface features, multi-angle scanning is required to obtain complete surface information.

[0050] Specifically, the system first controls the cross-arm mechanism to drive the visual sensor to move to the appropriate initial position, and drives the visual sensor to rotate around the central axis of the target head through the servo motor of the base positioning working mechanism. The system pre-sets three scanning angles, namely 0°, 120° and 240°. At each preset angle position, the visual sensor starts the high-precision laser ranging module to scan the surface of the target head once and collect the surface profile data at that angle. To ensure the accuracy of the scanning data, the system calibrates the position and posture of the visual sensor before each scan, and automatically adjusts the laser power and exposure parameters according to the ambient light intensity. After completing the scanning of the three angles, the system obtains three sets of complementary scanning data, which respectively reflect the surface features of the target head at different viewing angles. Subsequently, the system first performs coordinate system conversion and registration processing on the three sets of scanning data through the data splicing algorithm, identifies and matches the feature points of the overlapping area, and then uses the point cloud splicing algorithm to integrate the three sets of data into a complete three-dimensional point cloud model.

[0051] S104, comparing the point cloud data and the model data, and judging whether the target head meets the preset requirements according to the comparison result, and if the target head meets the preset requirements, generating cutting data of the target head.

[0052] After acquiring the point cloud data, the system first pre-processes the point cloud data, removes abnormal points with large errors through data analysis algorithms, and obtains valid point cloud data to improve the accuracy of subsequent data processing. Subsequently, the system compares the processed valid point cloud data with the pre-retrieved model data, and evaluates whether the actual size and shape of the target head meet the preset processing requirements by calculating the deviation between the two sets of data. When the system detects that the target head meets the preset requirements, it will determine the specific position information and posture information of the target head in the workbench coordinate system based on the comparison results of the valid point cloud data and the model data. Based on these spatial position parameters, the system generates the cutting edge line of the head and calculates the swing angle data required for the cutting torch at each node on the cutting edge line. These data together constitute the cutting data of the target head.

[0053] The reason why data comparison and cutting data generation are needed is that the placement of the head in actual processing deviates from the ideal model. Through data comparison, the actual spatial state of the head can be accurately obtained, so as to generate a matching cutting trajectory to ensure cutting accuracy. At the same time, through pre-qualification judgment, unqualified workpieces can be found in time to avoid invalid processing of unqualified workpieces and improve production efficiency. This cutting parameter generation method based on data comparison not only overcomes the limitations of traditional manual measurement methods, but also can automatically generate the optimal cutting parameters according to the actual state of the head, ensuring the stability and consistency of cutting quality.

[0054] Based on the above embodiment, as an optional implementation, in S104, generating the cutting data of the target end cap specifically includes S41-S44: S41, eliminating points with large errors from the point cloud data to obtain valid point cloud data.

[0055] S42, determining the position information and posture information of the target head on the workbench according to the comparison result between the effective point cloud data and the model data.

[0056] S43, generating a cutting edge line of the target end cap and torch swing angle data of each node on the cutting edge line according to the position information and the posture information.

[0057] S434, using the cutting edge line and the torch swing angle data as the cutting data of the target end cap.

[0058] In this embodiment, in order to ensure the accuracy of the cutting data, the system needs to perform in-depth processing and analysis on the acquired point cloud data. First, the system pre-processes the original point cloud data through a statistical filtering algorithm, calculates the distance deviation between each point in the point cloud and its neighboring points, and when the distance deviation between a point and the surrounding points exceeds the preset threshold, it is identified as an abnormal point and removed, thereby obtaining more reliable and valid point cloud data. Subsequently, the system uses the iterative closest point algorithm (ICP) to align the valid point cloud data with the model data, and accurately calculates the spatial position parameters and attitude angles of the target head relative to the workbench coordinate system by minimizing the error between the two sets of data.

[0059] Based on the acquired position and posture information, the system combines the predefined cutting contour in the model data to generate the actual cutting edge line in the workbench coordinate system. Taking into account the curvature change of the head surface, the system evenly samples several control nodes along the cutting edge line, and calculates the optimal swing angle data of the cutting torch according to the surface normal vector at each node to ensure that the cutting torch always maintains perpendicularity to the head surface during cutting. Finally, the system combines the calculated cutting edge line coordinate sequence and the corresponding torch swing angle data sequence to form a complete cutting data packet. This cutting data generation method based on data processing and spatial coordinate transformation not only improves the accuracy of the cutting trajectory, but also ensures the stability of the cutting quality by optimizing the torch posture.

[0060] S105, sending the cutting data to the cutting device corresponding to the workbench, so that the cutting device cuts the target end cap.

[0061] When the system generates cutting data, it first determines the motion trajectory of the cutting equipment based on the cutting edge line, and converts the cutting edge line in the workpiece coordinate system into the motion trajectory of the cutting equipment actuator through the kinematic algorithm. At the same time, the system converts the torch swing angle data into the control instructions of the cutting equipment, which contain the posture adjustment parameters of the torch during the movement.

[0062] The system sends the converted motion trajectory and control instructions to the cutting equipment controller on the workbench through the communication interface. After receiving the control instructions, the cutting equipment drives the actuator to move along the planned trajectory and adjusts the angle of the cutting torch in real time to cut the target head.

[0063] During the cutting process, the system collects image data at the cutting point through a real-time image acquisition device, and determines whether the cutting quality meets the requirements based on the image data. When it is detected that the cutting quality does not meet the requirements, the system will automatically adjust the cutting parameters, such as cutting speed, air pressure, etc., to ensure the cutting quality.

[0064] Based on the above embodiment, as an optional implementation, in S105, sending the cutting data to the cutting device corresponding to the workbench so that the cutting device cuts the target end cap specifically includes S51-S53: S51, determining a motion trajectory of a cutting device corresponding to the workbench according to the cutting edge line.

[0065] S52, converting the motion trajectory and the cutting torch swing angle data into control instructions for the cutting device.

[0066] S53, sending a control instruction to the cutting device to make the cutting device move along the motion trajectory, and adjusting the angle of the cutting torch according to the cutting torch swing angle data to cut the target end cap.

[0067] In this embodiment, in order to achieve precise control of the cutting device, the system needs to convert the cutting data into control instructions executable by the device.

[0068] First, based on the spatial coordinate sequence of the cutting edge line, the system calculates the displacement of each motion axis of the cutting device through the kinematic inverse algorithm, thereby generating the motion trajectory of the cutting device. The trajectory data contains the position information of each axis at different times. At the same time, the system converts the torch swing angle data into the angle parameters of the cutting device posture adjustment mechanism. These parameters determine the spatial orientation of the torch during the cutting process.

[0069] Subsequently, the system packages the motion trajectory data and cutting torch posture parameters into a control instruction sequence in a standard format according to the control protocol of the cutting equipment. These instructions include position control commands, posture adjustment commands, and cutting process parameters (such as air pressure, cutting speed, etc.).

[0070] Finally, the system sends the control instructions to the controller of the cutting equipment in real time through the industrial field bus. After receiving the instructions, the controller drives the various actuators to move in coordination, so that the cutting head moves along the planned trajectory. At the same time, the spatial posture of the cutting torch is adjusted in real time according to the cutting torch swing angle data to complete the precise cutting of the target head. This control method based on kinematic algorithms and communication protocols realizes the precise mapping of cutting data to equipment actions, ensuring the continuity of the cutting trajectory and the accuracy of the cutting torch posture.

[0071] After the cutting data is sent to the cutting device corresponding to the workbench so that the cutting device cuts the target end cap, the following steps are also included: During the cutting process, image data of the cutting position is collected in real time; based on the image data, it is determined whether the cutting quality meets the cutting requirements; when it is detected that the cutting quality does not meet the cutting requirements, the cutting parameters of the cutting equipment are adjusted.

[0072] In this embodiment, in order to ensure the stability of the head cutting quality, the system implements real-time monitoring and adaptive parameter adjustment during the cutting process.

[0073] Specifically, the system installs a high-speed industrial camera on the cutting head of the cutting equipment. The camera maintains a fixed relative position with the cutting head, moves synchronously with the cutting head, and collects image data at the cutting point in real time. The system uses image processing algorithms to analyze the collected images in real time and extract the characteristic parameters of the cutting seam, including the cutting seam width, surface roughness, slag adhesion, etc. By comparing these characteristic parameters with the preset cutting quality standards, the system can determine in real time whether the current cutting quality meets the requirements. When the system detects that the cutting quality parameters exceed the preset range, the cutting parameter adaptive adjustment mechanism will be activated.

[0074] According to different quality problems, the system will adjust different cutting parameters accordingly: when the kerf is too wide, reduce the cutting gas pressure or increase the cutting speed; when slag adhesion occurs, adjust the torch height or increase the gas pressure; when the surface roughness is too large, optimize the ratio of cutting speed and power. This real-time monitoring and parameter adjustment method based on visual feedback enables the cutting system to have adaptive control capabilities, which can timely detect and correct quality deviations in the cutting process, and significantly improve the stability and consistency of cutting quality.

[0075] The cutting device corresponding to the workbench, after the cutting device cuts the target head, also includes: Scan the target end cap after cutting to obtain the point cloud data after cutting; compare the point cloud data after cutting with the cutting data to determine whether the cutting accuracy meets the accuracy requirements; if the cutting accuracy does not meet the accuracy requirements, optimize and adjust the cutting data, and regenerate the cutting data so that the cutting equipment can re-cut the target end cap.

[0076] In this embodiment, in order to ensure the final accuracy of the head cutting, the system adopts a cutting quality evaluation and optimization mechanism based on data feedback. When the cutting equipment completes the first cutting, the system controls the visual sensor to perform an all-round scan of the target head after cutting, using the same multi-angle scanning strategy as the initial scan to obtain the three-dimensional point cloud data after cutting. The system accurately compares these point cloud data with the ideal cutting contour defined in the original cutting data, and evaluates the cutting accuracy by calculating the deviation between the actual cutting edge and the ideal contour.

[0077] The system focuses on key quality indicators such as the contour, verticality and dimensional tolerance of the cutting edge. When any indicator exceeds the preset accuracy requirements, the system will start the cutting optimization program. The optimization program first analyzes the distribution characteristics of the deviation, identifies the areas that need to be optimized, and then makes targeted corrections to the original cutting data based on the deviation characteristics: for contour deviation, the spatial coordinates of the cutting edge line are corrected by the compensation algorithm; for verticality deviation, the torch swing angle data of the corresponding position is optimized; for local deviation, the cutting process parameters of the area are adjusted. The system regenerates the optimized cutting data based on the corrected parameters and controls the cutting equipment for fine-tuning cutting. This closed-loop optimization method based on measured data can not only effectively compensate for the system errors and process deviations in the first cutting, but also realizes directional optimization through precise data analysis, improving the efficiency and accuracy of the correction cutting.

[0078] The workbench and cutting device of this embodiment are mainly used to realize the automated and precise cutting of the target end cap. The workbench adopts a heavy-duty steel structure frame design to ensure the overall rigidity and stability. A number of adjustable fulcrums are arranged on its upper surface. Each fulcrum is driven by a screw pair driven by a high-precision servo motor to realize precise lifting and horizontal position adjustment. The fulcrum surface is made of wear-resistant material to prevent scratches on the end cap surface. A base positioning working mechanism is installed at the bottom of the workbench. The mechanism is driven by a servo motor and can realize the rotation positioning of the workbench, which is convenient for the visual sensor to perform multi-angle scanning. A guide rail system is arranged around the workbench for installing and supporting the cutting device.

[0079] The cutting device is mainly composed of a robotic arm, a cutting head assembly and a control system. The robotic arm adopts a six-axis structure design, has a large working space and flexible movement ability, and can adapt to complex cutting trajectory requirements. The cutting head assembly includes a cutting torch body, a posture adjustment mechanism and a visual monitoring unit. The cutting torch body adopts a water-cooled structure design to ensure long-term working stability; the posture adjustment mechanism is driven by two orthogonally installed servo motors to achieve the pitch and swing adjustment of the cutting torch; the visual monitoring unit integrates a high-speed industrial camera and an auxiliary lighting system for real-time monitoring of cutting quality. The control system uses an industrial computer as the core, equipped with a high-performance motion control card and a fieldbus communication module to achieve precise control of the entire cutting process.

[0080] The workbench and the cutting device are controlled collaboratively through a signal interface to ensure the precise correspondence between the workpiece position and the cutting trajectory during the cutting process. The entire system adopts a modular design concept, and each functional unit can be flexibly configured and replaced according to actual needs. At the same time, a system upgrade interface is reserved to facilitate future functional expansion. The device not only realizes the automation and precision of the head cutting, but also significantly improves the processing efficiency and quality stability through reasonable mechanical structure design and advanced control strategies, providing reliable equipment guarantee for the large-scale production of heads.

[0081] Based on the above method, the present application also discloses a head cutting system, such as Figure 2 As shown, Figure 2 is a structural diagram of a head cutting system provided in an embodiment of the present application, the system comprises: an acquisition module, a determination module, a generation module, a comparison module and a cutting module; wherein, The acquisition module is used to obtain the model of the target head and retrieve the model data of the corresponding model from the gallery; the determination module is used to adjust the position of the fulcrum on the workbench according to the model data to form a support plane for supporting the target head; the generation module is used to perform multi-phase angle scanning on the target head when the target head is placed on the support plane to generate point cloud data; the comparison module is used to compare the point cloud data and the model data, and determine whether the target head meets the preset requirements based on the comparison results. If the target head meets the preset requirements, the cutting data of the target head is generated; the cutting module is used to send the cutting data to the cutting device corresponding to the workbench, so that the cutting device cuts the target head.

[0082] It should be noted that: when the device provided in the above embodiment realizes its function, only the division of the above functional modules is used as an example. In actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0083] See also Figure 3 , is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 1000 may include: at least one processor 1001 , at least one network interface 1004 , a user interface 1003 , a memory 1005 , and at least one communication bus 1002 .

[0084] The communication bus 1002 is used to realize the connection and communication between these components.

[0085] The user interface 1003 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0086] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0087] Among them, the processor 1001 may include one or more processing cores. The processor 1001 uses various interfaces and lines to connect various parts in the entire server, and executes various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 1005, and calling data stored in the memory 1005. Optionally, the processor 1001 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 1001 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 1001, and it can be implemented separately through a chip.

[0088] Among them, the memory 1005 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 1005 includes a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 1005 may optionally be at least one storage device located away from the aforementioned processor 1001. As Figure 3 As shown, the memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an application program for a sealing head cutting method.

[0089] exist Figure 3 In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and obtain data input by the user; and the processor 1001 can be used to call an application program storing a head cutting method in the memory 1005. When executed by one or more processors, the electronic device executes one or more methods described in the above embodiments.

[0090] An electronic device readable storage medium stores instructions, which, when executed by one or more processors, enable the electronic device to execute one or more of the methods described in the above embodiments.

[0091] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required for the present application.

[0092] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0093] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0094] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0096] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as USB flash drives, mobile hard drives, magnetic disks or optical disks.

[0097] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of other embodiments of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A head cutting method, characterized in that: The method comprises: Obtain the model of the target head, and retrieve the model data corresponding to the model from the library; Adjust the position of the fulcrum on the workbench according to the model data to form a support plane for supporting the target end cap; When the target end cap is placed on the support plane, a multi-phase angle scan is performed on the target end cap to generate point cloud data; Comparing the point cloud data with the model data, judging whether the target end cap meets the preset requirements according to the comparison result, and generating cutting data of the target end cap if the target end cap meets the preset requirements; The cutting data is sent to a cutting device corresponding to the workbench, so that the cutting device cuts the target end cap.

2. The head cutting method according to claim 1, characterized in that: The step of adjusting the position of the fulcrum on the workbench according to the model data comprises: Determine the center of gravity position of the target head according to the model data; According to the center of gravity position, determine the target position of the fulcrum on the workbench when the target end cap is uniformly stressed on the workbench, wherein the number of the fulcrums is N, and N≥1; Controlling the fulcrum driving device on the workbench to adjust each fulcrum to the target position; The actual position of each fulcrum is detected, and when the error between the actual position of each fulcrum and the fulcrum position is within an allowable range, the fulcrum adjustment is completed.

3. The head cutting method according to claim 1, characterized in that: The multi-phase angle scanning of the target end cap is performed to generate point cloud data, including: Controlling the visual sensor to rotate around the central axis of the target end cap by a preset angle, scanning the target end cap once at each preset angle, and obtaining multiple sets of scanning data; The multiple sets of scanning data are spliced ​​to generate point cloud data.

4. The head cutting method according to claim 1, characterized in that: The step of generating the cutting data of the target end cap comprises: Eliminate points with large errors from the point cloud data to obtain valid point cloud data; Determine the position information and posture information of the target end cap on the workbench according to the comparison result between the effective point cloud data and the model data; Generate a cutting edge line of the target end cap and torch swing angle data of each node on the cutting edge line according to the position information and the posture information; The cutting edge line and the cutting torch swing angle data are used as cutting data of the target end cap.

5. The head cutting method according to claim 4, characterized in that: The step of sending the cutting data to a cutting device corresponding to the workbench so that the cutting device cuts the target end cap includes: Determine the motion trajectory of the cutting device corresponding to the workbench according to the cutting edge line; Converting the motion trajectory and the cutting torch swing angle data into control instructions for the cutting device; The control instruction is sent to the cutting device to make the cutting device move along the motion trajectory, and the angle of the cutting torch is adjusted according to the cutting torch swing angle data to cut the target end cap.

6. The head cutting method according to claim 1, characterized in that: After sending the cutting data to the cutting device corresponding to the workbench so that the cutting device cuts the target end cap, the method further includes: Collect image data of the cutting position in real time during the cutting process; Judging whether the cutting quality meets the cutting requirements according to the image data; When it is detected that the cutting quality does not meet the cutting requirement, the cutting parameters of the cutting device are adjusted.

7. The head cutting method according to claim 1, characterized in that: The cutting device corresponding to the workbench, after the cutting device cuts the target end cap, also includes: Scanning the target end cap after cutting to obtain point cloud data after cutting; Comparing the post-cutting point cloud data with the cutting data to determine whether the cutting accuracy meets the accuracy requirements; If the cutting accuracy does not meet the accuracy requirement, the cutting data is optimized and adjusted, and the cutting data is regenerated so that the cutting device re-cuts the target end cap.

8. A head cutting system, characterized in that: The system includes: an acquisition module, a determination module, a generation module, a comparison module and a cutting module; wherein, The acquisition module is used to acquire the model of the target end cap and retrieve the model data corresponding to the model from the gallery; The determination module is used to adjust the position of the fulcrum on the workbench according to the model data to form a support plane for supporting the target end cap; The generating module is used to perform multi-phase angle scanning on the target end cap when the target end cap is placed on the supporting plane to generate point cloud data; The comparison module is used to compare the point cloud data and the model data, and judge whether the target end cap meets the preset requirements according to the comparison result, and if the target end cap meets the preset requirements, generate cutting data of the target end cap; The cutting module is used to send the cutting data to the cutting device corresponding to the workbench, so that the cutting device cuts the target end cap.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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