Intelligent avoidance control method for machining of numerical control flanging machine

Abstract

The invention relates to an intelligent avoiding control method for machining of a numerical control flanging machine. Comprising the following steps that before machining, a correct machining program is compiled on a human-computer interface according to an actual workpiece drawing or a real object forming process; the numerical control system analyzes a machining program to obtain data necessary for a position avoiding algorithm, machining is started, and in a bending forming rectangular coordinate system, pole coordinate values of a current forming shape are automatically calculated in real time; in the continuous machining process, the target positions and the action time sequence of a feeding shaft, a pressing shaft and an edge folding shaft of the edge folding machine in the next step are correctly adjusted, so that a workpiece and an edge folding machine die are prevented from interfering and colliding, and meanwhile set process actions are completed. According to the control method and the numerical control system, the forming shape and related coordinate data of the workpiece can be obtained in real time, the mutual positions of the workpiece, the machine tool moving part and the mold are adjusted in time through the process control instruction, and interference and collision of the workpiece, the machine tool and the mold are correctly avoided.

Description

Technical Field

[0001] The invention relates to an intelligent avoidance control method for CNC folding machine processing, and belongs to the technical field of folding machines. Background Art

[0002] The folding machine is a special sheet metal processing machine, mainly used for bending and forming sheet metal parts. The folding machine uses a combination of feeding mechanism, clamping mechanism and folding mechanism to achieve one-time forming after the sheet is loaded, without manual intervention in the middle. It is an indispensable component for highly flexible sheet metal processing production lines and highly lean production.

[0003] Traditional folding machines are single-step processing modes, and each step can be manually intervened. That is, after each step of forming, how to avoid the moving parts of the machine tool and the mold, take out the workpiece and proceed to the next step of bending and forming are all operated and confirmed manually. The folding machine is a continuous processing mode. After the operator puts the sheet on the workbench, the machine tool completes the processing in one go according to the pre-written process program. In this way, if the folding machine does not adjust the relative positions between the workpiece, the moving parts of the machine tool, and the mold in real time according to the formed shape of the workpiece, and correctly avoid the interference and collision between the workpiece and the machine tool and the mold, it may cause a large amount of damage to the sheet, and in serious cases, damage to the moving parts of the machine tool and the mold. Summary of the invention

[0004] In response to the above technical problems, the purpose of the present invention is to provide an intelligent avoidance control method for CNC folding machine processing, which can monitor the forming data in real time during the bending process, combine the monitoring results with the position avoidance algorithm, and adjust the relative position and action timing of the workpiece and the moving parts of the machine tool when necessary.

[0005] The technical solution adopted in the present invention is: An intelligent avoidance control method for CNC folding machine processing, characterized in that it includes the following steps: Step 1: Before processing, compile the correct processing program on the human-machine interface according to the actual workpiece drawing or the molding process of the real object; Step 2: After loading the first step processing program, the CNC system analyzes the processing program and obtains the data necessary for the "position avoidance algorithm", including the workpiece unfolding and forming dimensions, bending sequence, and the "forming process type, angle and size of each step; Step 3: Start the processing. The CNC system automatically calculates the pole coordinate value of the current forming shape in real time in the "bending forming rectangular coordinate system" according to the "position avoidance algorithm" and the necessary data; Step 4: Continuous processing. For each additional step of forming processing, the CNC system recalculates and updates the pole coordinate value, and adds a new pole coordinate for the current processing step; Step 5: During the continuous processing, the processing control instructions of the CNC system read the current pole coordinate data in the cache data block in real time; according to the requirements of the next process action, among all the current pole coordinate data, the maximum value point, that is, the maximum / minimum point of the horizontal and vertical coordinates, is compared; then according to the current machine tool axis position and the coordinates of the maximum value point, the target position and action timing of the feeding axis, clamping axis, and folding axis of the next folding machine are correctly adjusted to avoid interference and collision between the workpiece and the folding machine mold while completing the established process action.

[0006] As a further improvement of the above technical solution, the "forming process type" in the second step is divided into three categories: bending, flattening and arc.

[0007] As a further improvement of the above technical solution, the "bending forming rectangular coordinate system" in the third step is: taking the forming side view surface as the plane, the die tip of the folding machine pressing die as the origin O, the horizontal movement direction of the folding die as the X-axis and the positive direction, and the vertical movement direction of the folding die as the Y-axis and the positive direction, thereby forming a rectangular coordinate system.

[0008] As a further improvement of the above technical solution, the "position avoidance algorithm" in the third step is based on the "forming rectangular coordinate system" and the bending forming data, and the "position avoidance algorithm" includes the following steps: 1) Obtain bending forming data: bending angle α, bending size L, arc forming radius R, and arc forming center angle β; 2) According to the formula, calculate the coordinates of the pole P of the bending forming from step 1 to step n; P1(x1,y1),P2(x2,y2),P3(x3,y3)……P n (x n ,y n ), where the bending dimensions are L1, L2, L3...L n , the bending angles are α1, α2, α3...α n ; The coordinate calculation formula of P1(x1,y1): x1=L1*cos(α1), y1= L1*sin(α1); The coordinate calculation formula of P2(x2,y2): x2= x1+L2*cos(α1+α2), y2= y1+L2*sin(α1+α2); The coordinate calculation formula of P3(x3,y3): x3= x2+L3*cos(α1+α2+α3), y3= y2+ L3*sin(α1+α2+α3); … P n (x n ,yn ) coordinate calculation formula: x n = x n-1 +L n *cos(α1+α2+α3+……+α n ), y n = y n-1 + L n *sin(α1+α2+α3+……+α n ); 3) According to the formula, calculate the center S of the arc in step m m (a m ,b m ) coordinates and the coordinates Q of k equally divided points on the arc m-1 (c m-1 ,d m-1 ), Q m-2 (c m-2 ,d m-2 )……Q m-k (c m-k ,d m-k ), where the arc radius is R m , the arc center angle is β m ; Center S m (a m ,b m ) coordinate calculation formula: a m =x m-1 -R m * sin(α1+α2+α3+……+α m-1 ), b m= y m-1 +R m * cos(α1+α2+α3+……+α m-1 ); The kth equally divided point Q on the arc m-k (c m-k ,d m-k ) coordinate calculation formula: c m-k= a m + R m *sin(α1+α2+α3+……+α m-1 +β m / k*k), d m-k= b m -R m *cos(α1+α2+α3+……+α m-1 +β m / k*k).

[0009] The advantages of the present invention are: Through the control method of the present invention, the numerical control system can obtain the molding shape of the workpiece and related coordinate data in real time, and adjust the relative positions between the workpiece, the moving parts of the machine tool, and the mold in a timely manner through the process control instructions, and correctly avoid the interference and collision between the workpiece and the machine tool itself and the mold. In addition, by optimizing the action logic timing in the process control instructions, the optimal processing efficiency can be obtained while avoiding interference and collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is the control principle diagram of the present invention.

[0011] Figure 2 It is a molding process type diagram.

[0012] Figure 3 It is a rectangular coordinate system diagram of bending forming.

[0013] Figure 4 It is a schematic diagram of the coordinate points and forming data of the position avoidance algorithm.

[0014] Figure 5 It is a fitting schematic diagram of the coordinates of each point in the position avoidance algorithm. DETAILED DESCRIPTION

[0015] The embodiments described in the present invention are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] An intelligent avoidance control method for CNC folding machine processing, characterized in that it includes the following steps: Step 1: Before processing, compile the correct processing program on the human-machine interface according to the actual workpiece drawing or the molding process of the real object; Step 2: After loading the first step processing program, the CNC system analyzes the processing program and obtains the data necessary for the "position avoidance algorithm", including the workpiece unfolding and forming dimensions, bending sequence, and the "forming process type, angle and size of each step; Step 3: Start the processing. The CNC system automatically calculates the pole coordinate value of the current forming shape in real time in the "bending forming rectangular coordinate system" according to the "position avoidance algorithm" and the necessary data; Step 4: Continuous processing. For each additional step of forming processing, the CNC system recalculates and updates the pole coordinate value, and adds a new pole coordinate for the current processing step; Step 5: During the continuous processing, the processing control instructions of the CNC system read the current pole coordinate data in the cache data block in real time; according to the requirements of the next process action, among all the current pole coordinate data, the maximum value point, that is, the maximum / minimum point of the horizontal and vertical coordinates, is compared; then according to the current machine tool axis position and the coordinates of the maximum value point, the target position and action timing of the feeding axis, clamping axis, and folding axis of the next folding machine are correctly adjusted to avoid interference and collision between the workpiece and the folding machine mold while completing the established process action.

[0017] As a further improvement of the above technical solution, the "forming process type" in the second step is divided into three categories: bending, flattening and arc.

[0018] As a further improvement of the above technical solution, the "bending forming rectangular coordinate system" in the third step is: taking the forming side view surface as the plane, the die tip of the folding machine pressing die as the origin O, the horizontal movement direction of the folding die as the X-axis and the positive direction, and the vertical movement direction of the folding die as the Y-axis and the positive direction, thereby forming a rectangular coordinate system.

[0019] As a further improvement of the above technical solution, the "position avoidance algorithm" in the third step is based on the "forming rectangular coordinate system" and the bending forming data, and the "position avoidance algorithm" includes the following steps: Obtain bending forming data: bending angle α, bending size L, arc forming radius R, and arc forming center angle β; According to the formula, the coordinates of the pole P of the bending forming from step 1 to step n are calculated; P1(x1,y1),P2(x2,y2),P3(x3,y3)……P n (x n ,y n ), where the bending dimensions are L1, L2, L3...L n , the bending angles are α1, α2, α3...α n ; The coordinate calculation formula of P1(x1,y1): x1=L1*cos(α1), y1= L1*sin(α1); The coordinate calculation formula of P2(x2,y2): x2= x1+L2*cos(α1+α2), y2= y1+L2*sin(α1+α2); The coordinate calculation formula of P3(x3,y3): x3= x2+L3*cos(α1+α2+α3), y3= y2+ L3*sin(α1+α2+α3); … P n (x n ,y n) coordinate calculation formula: x n = x n-1 +L n *cos(α1+α2+α3+……+α n ), y n = y n-1 + L n *sin(α1+α2+α3+……+α n ); 3) According to the formula, calculate the center S of the arc in step m m (a m ,b m ) coordinates and the coordinates Q of k equally divided points on the arc m-1 (c m-1 ,d m-1 ), Q m-2 (c m-2 ,d m-2 )……Q m-k (c m-k ,d m-k ), where the arc radius is R m , the arc center angle is β m ; Center S m (a m ,b m ) coordinate calculation formula: a m =x m-1 -R m * sin(α1+α2+α3+……+α m-1 ), b m= y m-1 +R m * cos(α1+α2+α3+……+α m-1 ); The kth equally divided point Q on the arc m-k (c m-k ,d m-k ) coordinate calculation formula: c m-k= a m + R m *sin(α1+α2+α3+……+α m-1 +β m / k*k), d m-k= b m -R m *cos(α1+α2+α3+……+α m-1 +β m / k*k).

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent avoidance control method for CNC folding machine processing, characterized in that: The following steps are involved: Step 1: Before processing, compile the correct processing program on the human-machine interface according to the actual workpiece drawing or the molding process of the real object; Step 2: After loading the first step processing program, the CNC system analyzes the processing program and obtains the data necessary for the "position avoidance algorithm", including the workpiece expansion and forming dimensions, bending sequence, and the "forming process type, angle and size of each step; Step 3: Start the processing. The CNC system automatically calculates the pole coordinate value of the current forming shape in real time in the "bending forming rectangular coordinate system" according to the "position avoidance algorithm" and the necessary data; Step 4: Continuous processing. For each additional step of forming processing, the CNC system recalculates and updates the pole coordinate value, and adds a new pole coordinate for the current processing step; Step 5: During the continuous processing, the processing control instructions of the CNC system read the current pole coordinate data in the cache data block in real time; according to the requirements of the next process action, among all the current pole coordinate data, the maximum value point, that is, the maximum / minimum point of the horizontal and vertical coordinates, is compared; then according to the current machine tool axis position and the coordinates of the maximum value point, the target position and action timing of the feeding axis, clamping axis, and folding axis of the next folding machine are correctly adjusted to avoid interference and collision between the workpiece and the folding machine mold while completing the established process action.

2. The intelligent avoidance control method for CNC folding machine processing according to claim 1 is characterized in that: The "forming process types" in the second step are: bending, flattening and arc.

3. The intelligent avoidance control method for CNC folding machine processing according to claim 1 is characterized in that: The "bending forming rectangular coordinate system" in the third step is: taking the forming side view surface as the plane, the die tip of the folding machine pressing die as the origin O, the horizontal movement direction of the folding die as the X-axis and the positive direction, and the vertical movement direction of the folding die as the Y-axis and the positive direction, thus forming a rectangular coordinate system.

4. The intelligent avoidance control method for CNC folding machine processing according to claim 1 is characterized in that: The "position avoidance algorithm" in the third step is based on the "forming rectangular coordinate system" and the bending forming data, and the "position avoidance algorithm" includes the following steps: 1) Obtain bending forming data: bending angle α, bending size L, arc forming radius R, and arc forming center angle β; 2) According to the formula, calculate the coordinates of the pole P of the bending forming from step 1 to step n; P1(x1,y1),P2(x2,y2),P3(x3,y3)……P n (x n ,y n ), where the bending dimensions are L1, L2, L3...L n , the bending angles are α1, α2, α3...α n ; The coordinate calculation formula of P1(x1,y1): x1=L1*cos(α1), y1= L1*sin(α1); The coordinate calculation formula of P2(x2,y2): x2= x1+L2*cos(α1+α2), y2= y1+L2*sin(α1+α2); The coordinate calculation formula of P3(x3,y3): x3= x2+L3*cos(α1+α2+α3), y3= y2+ L3*sin(α1+α2+α3); …… P n (x n ,y n ) coordinate calculation formula: x n = x n-1 +L n *cos(α1+α2+α3+……+α n ), y n = y n-1 + L n *sin(α1+α2+α3+……+α n ); 3) According to the formula, calculate the center S of the arc in step m m (a m ,b m ) coordinates and the coordinates Q of k equally divided points on the arc m-1 (c m-1 ,d m-1 ), Q m-2 (c m-2 ,d m-2 )……Q m-k (c m-k ,d m-k ), where the arc radius is R m , the arc center angle is β m ; Center S m (a m ,b m ) coordinate calculation formula: a m =x m-1 -R m * sin(α1+α2+α3+……+α m-1 ), b m= y m-1 + R m *cos(α1+α2+α3+……+α m-1 ); The kth equally divided point Q on the arc m-k (c m-k ,d m-k ) coordinate calculation formula: c m-k= a m + R m *sin(α1+α2+α3+……+α m-1 +β m / k*k), d m-k= b m -R m *cos(α1+α2+α3+……+α m-1 +β m / k*k).

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