Cutter movement path limiting method based on cutter drawing and bending machining system

Abstract

The invention provides a tool movement path limiting method based on a tool drawing and a bending machining system.The method comprises the steps that the tool drawing is obtained, outer contours of a plurality of tools are generated in a unified coordinate system according to the tool drawing, and contact points where the outer contours of the tools make contact with one another are set as original points of the coordinate system; the motion trail of each cutter moving from the initial position to the final bending position is obtained, and the coordinates of each cutter at any time point in the coordinate system are determined in advance based on the motion trail of each cutter; according to the coordinates of the cutters, whether outer contour intersection exists between the cutters or not is judged, and when the outer contour intersection exists between the cutters at any time point, the cutters are controlled to stop moving. Whether the cutters interfere with one another or not when moving on the movement track can be detected in advance before the shaft moves, collision between the cutters is avoided, and the operation safety and stability of equipment at the bending center are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bending centers, and in particular to a tool motion path limiting method based on a tool drawing and a bending processing system. Background Art

[0002] A bending center is an automated CNC machine tool used for sheet metal processing. It is widely used in high-precision, high-efficiency bending and forming processes for various types of metal sheets. After the bending center uses a feeding mechanism to deliver the sheet metal workpiece to the specified bending position, it controls each press tool to move along a set trajectory to complete bending actions at different angles. In the actual processing process, the bending center usually requires multiple functional modules to work together to enable the various tools to move in coordination with each other. Although each moving axis of the bending center is equipped with a stroke limit to prevent exceeding the mechanical allowable range, there may still be a risk of spatial interference between axes or tools during multi-axis coordinated movement. Once a collision occurs, it will not only affect the processing accuracy, but may also cause serious damage to the bending tool and equipment structure. Therefore, there is an urgent need for an effective motion protection mechanism that can judge and avoid potential interference between tools in real time during multi-axis linkage, thereby improving the safety and stability of equipment operation. Summary of the Invention

[0003] The embodiment of the present invention provides a tool motion path restriction method based on a tool drawing and a bending processing system to solve the problems existing in the related art. The technical solution is as follows:

[0004] In a first aspect, an embodiment of the present invention provides a method for limiting a tool motion path based on a tool drawing, comprising:

[0005] Obtain a tool drawing, generate the outer contours of multiple tools in a unified coordinate system based on the tool drawing, and set the contact point where the outer contours of the tools touch each other as the origin of the coordinate system;

[0006] Obtain the motion trajectory of each tool from its initial position to its final bending position, and determine in advance the coordinates of each tool in the coordinate system at any time point based on the motion trajectory of each tool;

[0007] The coordinates of each tool are used to determine whether there is an intersection between the outer contours of the tools. When there is an intersection between the outer contours of the tools at any time point, the tools are controlled to stop moving.

[0008] In one embodiment, it further includes:

[0009] When there is no outer contour intersection between the tools at the next time point, each tool is controlled to move to the coordinate corresponding to the next time point according to its own motion trajectory.

[0010] In one embodiment, it further includes:

[0011] An independent tool model is created for each tool based on the tool drawing, and the outer contour of each tool is marked in the corresponding tool model for visual display; among them, the tool drawing is a two-dimensional drawing that is proportional to the actual tool.

[0012] In one embodiment, it further includes:

[0013] Determine whether the motion trajectory corresponding to each tool violates the preset constraints, including the positive and negative travel limits corresponding to each direction in the coordinate system;

[0014] Under the condition that the motion trajectory does not violate the constraint conditions, the tool is controlled to move along the corresponding motion trajectory.

[0015] In one embodiment, determining whether there is an intersection of outer contours between the tools according to the coordinates of the tools includes:

[0016] Determine the spatial area occupied by each tool at any time point based on the coordinates of each tool in the coordinate system and the outer contour of each tool;

[0017] The collision detection algorithm is used to determine whether there is any partial overlap in the spatial occupied areas of each tool.

[0018] In one embodiment, it further includes:

[0019] Obtain a tool reset instruction, and control each tool to move to its corresponding initial position according to the tool reset instruction. When each tool moves to its corresponding initial position, each tool contacts each other at the origin of the coordinate system; wherein, the tool reset instruction is an instruction executed before each tool moves according to its corresponding motion trajectory.

[0020] In one embodiment, it further includes:

[0021] The time points where the outer contours of the tools intersect are marked as abnormal time points, the corresponding coordinates of the abnormal time points in the motion trajectory of each tool are discarded, and corresponding alarm prompts are generated.

[0022] In a second aspect, an embodiment of the present invention provides a bending processing system, comprising:

[0023] The CNC center is used to execute the tool motion path limitation method based on the tool drawing as described above.

[0024] In a third aspect, embodiments of the present invention provide an electronic device comprising: a memory and a processor. The memory and the processor communicate with each other via an internal connection path, the memory is configured to store instructions, and the processor is configured to execute the instructions stored in the memory. When the processor executes the instructions stored in the memory, the processor performs the method according to any of the aforementioned embodiments.

[0025] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, the method in any one of the above-mentioned embodiments is executed.

[0026] The advantages or beneficial effects of the above technical solution include at least:

[0027] The present invention obtains the outer contour of each tool based on the imported tool drawing, and establishes a coordinate system with the contact points of each tool as the origin. When the axis moves, the coordinates of each tool in the coordinate system are obtained in advance, and whether there is an intersection of the outer contours between the tools is calculated according to the coordinates. If there is an intersection, it means that there is interference between the tools. At this time, the axis movement is stopped immediately. The present invention can detect in advance whether the tools will interfere with each other when moving on the motion trajectory before the axis moves, so as to avoid collisions between the tools, thereby improving the safety and stability of the equipment operation of the bending center.

[0028] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar components or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed herein and should not be construed as limiting the scope of the invention.

[0030] Figure 1 Schematic diagram of the flow of the tool motion path limitation method based on the tool drawing of the present invention;

[0031] Figure 2 This is a state diagram of the outer contours of the cutting tools of the present invention when they are in contact with each other;

[0032] Figure 3 FIG. 1 is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0034] Example 1

[0035] A bending center is a CNC machine tool for automatic sheet metal bending. The Z-axis servo motor of the upper slider mechanism converts rotational motion into linear motion through a screw-nut assembly, driving the upper and lower slider mechanisms up and down. The upper slider mechanism is equipped with an upper pressure blade at its lower end, and an upper pressure blade at its upper end. When the feed mechanism delivers the sheet metal workpiece to the designated bending position, the Z-axis servo motor drives the upper slider mechanism downward and the upper slider mechanism upward, pressing the upper and lower pressure blades against the sheet metal workpiece to secure it. The movable toolholder's front and rear bending axes (X-axis) and upper and lower bending axes (Y-axis) are then controlled in a coordinated manner, controlling the bending blades to complete bending movements at different angles along the set trajectory.

[0036] When the bending center completes the part processing operation, in order to determine whether there is mutual interference between multiple axes within the stroke, this embodiment proposes a tool motion path limitation method based on the tool drawing, such as Figure 1 As shown, this method specifically includes the following steps:

[0037] Step S1: Obtain a tool drawing, generate the outer contours of multiple tools in a unified coordinate system according to the tool drawing, and set the contact point where the outer contours of the tools touch each other as the origin of the coordinate system.

[0038] In this embodiment, a tool drawing refers to a two-dimensional drawing that is proportional to the actual tool, such as a two-dimensional DXF drawing. The two-dimensional drawing clearly shows the outer contour of each tool (upper pressing tool, lower pressing tool, bending tool), including all straight lines, arcs, and other possible geometric elements. The two-dimensional tool drawing also includes the key characteristic dimensions of each tool, such as tool length, width, height, and any specific curvature radius.

[0039] Furthermore, when importing tool drawings, DXF files can be read through CAD software or other parsing tools and converted into visual two-dimensional images. An independent tool model can be established for each tool, and the tool models corresponding to each tool can be integrated into a unified coordinate system at a 1:1 ratio for visual display. The outer contour of each tool can be clearly observed through visualization, so that the movement of each tool can be intuitively observed later.

[0040] The coordinate system established in this embodiment uses the contact point between the outer contours of each tool as the origin of the coordinate system. It should be clear that when the outer contours of each tool are in contact with each other, there is no local overlap between the tools. Figure 2 As shown, Figure 2 Point A in the middle is the contact point between the tools, and is also the origin of the coordinate system.

[0041] Before this embodiment controls the multi-axis to drive each tool to move, it automatically executes the tool reset instruction. Each axis controls its corresponding tool to move to its respective initial position according to the tool reset instruction. When each tool moves to its respective initial position, each tool contacts each other at the origin of the coordinate system. Each tool takes the origin of the coordinate system as its initial position and moves to the final bending position according to the corresponding motion trajectory of each tool to complete a series of bending operations.

[0042] Step S2: Obtain the motion trajectory of each tool from the initial position to the final bending position, and determine in advance the coordinates of each tool in the coordinate system at any time point based on the motion trajectory of each tool.

[0043] Among them, the motion trajectory can be automatically generated according to the processing parameters. The processing parameters include the initial position and final position, travel speed, bending angle and radius, bending pressure value, etc. By integrating various processing parameters, a detailed motion trajectory is planned. The motion trajectory records the corresponding position of each tool at different time points, thereby guiding each axis to accurately perform each action to achieve the purpose of bending the workpiece.

[0044] This embodiment calculates in advance the corresponding coordinate position of each tool at each time point during the axis movement, and determines the spatial occupied area of ​​each tool in the coordinate system at each time point in combination with the outer contour dimensions of each tool, and determines whether there is an intersection based on the spatial occupied area of ​​each tool.

[0045] Step S3: Determine whether there is an outer contour intersection between the tools based on the coordinates of the tools. When there is an outer contour intersection between the tools at any time point, control the tools to stop moving; when there is no outer contour intersection between the tools at the next time point, control the tools to move to the coordinates corresponding to the next time point according to their own motion trajectories.

[0046] A collision detection algorithm is used to determine whether the spatial areas occupied by the respective tools at different time points overlap. Specifically, this embodiment primarily determines whether, at the same time point, the spatial area occupied by the upper pressing tool in the coordinate system intersects with the spatial area occupied by the bending tool in the coordinate system. Simultaneously, it also determines whether, at the same time point, the spatial area occupied by the lower pressing tool in the coordinate system intersects with the spatial area occupied by the bending tool in the coordinate system. If so, a collision will occur between the tools; if not, a collision will not occur between the tools.

[0047] Collision detection algorithms rely on geometry and computational geometry to determine if objects intersect. In practice, to balance efficiency and accuracy, a multi-layered approach is often employed. For example, a simple bounding box method is used for rough detection. For potentially intersecting objects, more precise methods such as the Separating Axis Theorem (SAT) or the GJK / EPA algorithm are then used for detailed inspection.

[0048] It should be noted that the step of determining whether there is an intersection of outer contours can be performed during the axis movement, that is, before each tool moves to the coordinate position corresponding to the next time point, the spatial occupied area of ​​each tool in the coordinate system at the next time point is determined in advance, and then it is determined whether a tool collision will occur at the next time point. If a tool collision will occur at the next time point, the movement of each tool is stopped immediately before each tool moves to the corresponding coordinate at the next time point to avoid a collision between the tools at the next time point.

[0049] In addition, before the axis movement begins, that is, when each tool is still in its corresponding initial position, a collision simulation of the entire motion trajectory of each tool can be performed in advance to determine whether a tool collision will occur at any time point in the entire motion trajectory. Only when it is ensured that no tool collision will occur at all time points in the entire motion trajectory, can each axis be controlled to drive each tool to move according to its corresponding motion trajectory. If it is determined during the judgment process that a tool collision will occur at any time point, no tool movement will be performed until the collision is resolved.

[0050] When it is determined that a tool collision will occur at any time point, the time point where the outer contours of the tools intersect is marked as an abnormal time point, and the coordinates corresponding to the abnormal time point in the motion trajectory of each tool are discarded, so as to avoid collisions when the tools move to the coordinates. At the same time, when it is determined that a tool collision will occur at any time point, a corresponding alarm prompt is immediately generated to prompt the user to improve the movement of each tool.

[0051] At the same time, after determining the motion trajectory of each tool, the corresponding motion trajectory of each tool is judged to see if it violates the preset constraints. The constraints include the positive and negative travel limits corresponding to each direction in the coordinate system. In other words, it is determined whether the motion trajectory of each tool exceeds its set positive and negative travel limits. If it does not exceed the positive and negative travel limits, it means that the motion trajectory does not violate the constraints. At this time, the tool can be controlled to move along the corresponding motion trajectory, while ensuring that no collision will occur. If the motion trajectory of any tool exceeds the positive and negative travel limits in any direction of the coordinate system, it means that the constraints have been violated. At this time, all tool movements are suspended and the motion trajectory is readjusted until the motion trajectory meets the constraints.

[0052] Example 2

[0053] This embodiment provides a bending processing system, which includes a bending device and a CNC center that communicates signals with the bending device; the bending device includes various tools and mechanical equipment that controls the movement of each tool, and the CNC center is used to execute the tool motion path limitation method based on the tool drawing as described in Example 1.

[0054] It should be noted that the structures of the various hardware devices in the system of the embodiment of the present invention have been disclosed in the prior art and will not be described again here. The functions implemented by the CNC center in the system can be found in the corresponding description in the above method and will not be repeated here.

[0055] Example 3

[0056] This embodiment provides an electronic device, Figure 3 FIG. 1 shows a structural block diagram of an electronic device according to an embodiment of the present invention. Figure 3 As shown, the electronic device includes a memory 100 and a processor 200. The memory 100 stores a computer program that can be executed on the processor 200. When the processor 200 executes the computer program, the tool motion path restriction method based on the tool drawing in the above embodiment is implemented. The number of the memory 100 and the processor 200 can be one or more.

[0057] The electronic device also includes:

[0058] The communication interface 300 is used to communicate with external devices and perform data exchange transmission.

[0059] If the memory 100, the processor 200, and the communication interface 300 are implemented independently, the memory 100, the processor 200, and the communication interface 300 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc.

[0060] Optionally, in a specific implementation, if the memory 100, the processor 200 and the communication interface 300 are integrated on a chip, the memory 100, the processor 200 and the communication interface 300 can communicate with each other through an internal interface.

[0061] An embodiment of the present invention provides a computer-readable storage medium storing a computer program. When the program is executed by a processor, the method provided in the embodiment of the present invention is implemented.

[0062] An embodiment of the present invention further provides a chip, which includes a processor for calling and executing instructions stored in a memory, so that a communication device equipped with the chip executes the method provided by the embodiment of the present invention.

[0063] An embodiment of the present invention also provides a chip, comprising: an input interface, an output interface, a processor and a memory, wherein the input interface, the output interface, the processor and the memory are connected via an internal connection path, and the processor is used to execute the code in the memory. When the code is executed, the processor is used to execute the method provided by the embodiment of the invention.

[0064] It should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor that supports the advanced reduced instruction set machine (ARM) architecture.

[0065] Furthermore, optionally, the above-mentioned memory may include read-only memory and random access memory, and may also include non-volatile random access memory. The memory may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM) or flash memory. The volatile memory may include random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct rambus RAM (DR RAM).

[0066] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the present invention are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0067] In the description of this specification, reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art may combine and integrate different embodiments or examples described in this specification, as well as features of different embodiments or examples, unless otherwise inconsistent.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0069] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications and substitutions within the technical scope disclosed in the present invention, and such modifications and substitutions are intended to be encompassed by the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A tool motion path limitation method based on tool drawings, characterized in that: include: Obtaining a tool drawing, generating outer contours of a plurality of tools in a unified coordinate system according to the tool drawing, and setting the contact point where the outer contours of the tools touch each other as the origin of the coordinate system; Obtaining a motion trajectory of each tool from an initial position to a final bending position, and determining in advance the coordinates of each tool in a coordinate system at any time point based on the motion trajectory of each tool; The coordinates of each tool are used to determine whether there is an intersection between the outer contours of the tools. When there is an intersection between the outer contours of the tools at any time point, the tools are controlled to stop moving.

2. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: Also includes: When there is no outer contour intersection between the tools at the next time point, each tool is controlled to move to a coordinate corresponding to the next time point according to its own motion trajectory.

3. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: Also includes: An independent tool model is established for each tool based on the tool drawing, and the outer contour mark of each tool is visually displayed in the corresponding tool model; wherein the tool drawing is a two-dimensional drawing that is proportional to the actual tool.

4. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: Also includes: Determining whether the motion trajectory corresponding to each tool violates preset constraints, wherein the constraints include positive and negative travel limits corresponding to each direction in the coordinate system; Under the condition that the motion trajectory does not violate the constraint condition, the tool is controlled to move according to the corresponding motion trajectory.

5. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: The step of judging whether there is an intersection of outer contours between the tools according to the coordinates of the tools includes: Determine the spatial area occupied by each tool at any time point based on the coordinates of each tool in the coordinate system and the outer contour of each tool; The collision detection algorithm is used to determine whether there is any partial overlap in the spatial occupied areas of each tool.

6. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: Also includes: Obtain a tool reset instruction, and control each tool to move to its corresponding initial position according to the tool reset instruction, so that each tool contacts each other at the origin of the coordinate system when the tool moves to its corresponding initial position; wherein, the tool reset instruction is an instruction executed before each tool moves according to its corresponding motion trajectory.

7. The tool motion path limiting method based on tool drawings according to claim 1, characterized in that: Also includes: The time points where the outer contours of the tools intersect are marked as abnormal time points, the corresponding coordinates of the abnormal time points in the motion trajectory of each tool are discarded, and corresponding alarm prompts are generated.

8. A bending processing system, characterized in that: include: A numerical control center, used for executing the tool motion path limitation method based on a tool drawing as described in any one of claims 1 to 7.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores instructions, and the instructions are loaded and executed by the processor to implement the tool motion path limitation method based on the tool drawing according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for limiting a tool motion path based on a tool drawing according to any one of claims 1 to 7 is implemented.

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