Side hole positioning linkage edge sealing execution method and system

Abstract

The invention discloses a side hole positioning linkage edge sealing execution method and system, and belongs to the field of wood-working machine manufacturing. The method comprises: a real-time feature capturing step: scanning the side edge of a plate through a non-contact sensor to obtain an original data set; a virtual benchmark reconstruction step: extracting feature lines based on the original data set, and establishing a digital virtual coordinate system taking the real geometric center of the plate as a reference; in the deviation mapping step, the actual edge is compared with the theoretical edge, and a compensation function changing along with the feeding length is generated; and a multi-axis linkage compensation step: dynamically adjusting the radial displacement of the edge sealing and finishing cutter according to the compensation function, and controlling the main shaft of the side hole to carry out axial coordinate compensation, so that the central axis of the side hole coincides with the real geometric center plane of the plate. The invention also discloses a system for realizing the method. According to the method, the influence of geometric errors of the plate edge on the machining precision can be eliminated, high-precision dynamic cooperative machining of the sealing edge and the side hole is achieved, and the machining quality and consistency of the plate are improved.

Description

Technical Field

[0001] This application belongs to the field of woodworking machinery manufacturing, specifically relating to a side hole positioning linkage edge banding execution method and system. Background Technology

[0002] With the deepening of digital transformation in the furniture manufacturing industry, precision machining technology for panel furniture has become a core element in improving finished product quality and assembly efficiency. In whole-house customization and flexible production processes, the quality of edge banding and side hole processing directly determines the structural strength and appearance precision of the furniture. As market demand for high-quality woodworking machinery continues to grow, how to achieve high-precision machining of panel edges in a high-speed continuous production environment has become a key issue that urgently needs optimization in the field of woodworking machinery automation.

[0003] Among them, the side hole positioning and linkage edge banding technology is a key process for achieving simultaneous processing of the side edge finishing and connecting hole positions of the board. This technology mainly uses a positioning device to lock the side edge reference of the board and drives the edge banding execution unit and the side hole positioning unit to work collaboratively. Its core objective is to improve the integration of processing steps and shorten the production cycle. During processing, the system must ensure the flatness of the edge banding and the accuracy of the side hole depth, thus providing a reliable foundation for subsequent hardware installation and cabinet assembly.

[0004] However, traditional integrated edge banding and side hole sealing equipment generally uses mechanical blocks or physical templates for rigid positioning, which is difficult to effectively accommodate geometric deformation problems such as uneven cutting of board side edges, chipping, or moisture deformation caused in previous processes. Existing mechanical forced positioning methods easily transmit the original edge errors of the board to the side hole depth parameters, resulting in a noticeable step-like appearance during board splicing. Simultaneously, the lack of a real-time feature-based linkage feedback mechanism between the edge banding and side hole mechanisms makes it impossible to dynamically compensate for minor undulations in the board side edges. Furthermore, due to the lack of digital recognition capabilities for edge banding thickness fluctuations and the true geometric center of the board, the system struggles to eliminate assembly tolerances caused by hole center offsets, severely impacting the tightness of the finished furniture.

[0005] Therefore, a side hole positioning and edge sealing execution scheme is desired. Summary of the Invention

[0006] The purpose of this invention is to provide a side hole positioning and linkage edge sealing execution method and system, which can effectively solve the problems in the background art mentioned above.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, a method for side hole positioning and linked edge sealing includes the following steps: Real-time feature capture step: At the starting end of the plate processing, the side edge of the plate is scanned by a non-contact sensor to obtain the original dataset characterizing its edge geometry. Virtual reference reconstruction steps: Based on the original dataset, feature lines of the side edge of the board are extracted by a control algorithm to establish a digital virtual coordinate system with the real geometric center of the board as a reference; Deviation mapping step: Compare the actual edge of the plate with the theoretical edge in the digital virtual coordinate system to generate a compensation function that varies with the feed length of the plate; Multi-axis linkage compensation steps: During the edge banding process, the radial displacement of the edge banding finishing tool is dynamically adjusted according to the compensation function; at the same time, the side hole spindle is controlled to perform axial coordinate compensation according to the compensation function to ensure that the center axis of the side hole coincides with the true geometric center plane of the plate.

[0008] Preferably, the real-time feature capture step further includes: The side edge of the plate is fully scanned at a preset sampling frequency, and an air blowing dust removal device is configured to continuously clean the lens optical path of the non-contact sensor to ensure the continuity of data acquisition. The original dataset is preprocessed in real time by the central control unit. The preprocessing includes removing impulse noise by applying a medium-value filtering algorithm and smoothing the data sequence by applying a Gaussian filtering algorithm to eliminate interference information. The preprocessed data is transformed into a numerical matrix in a unified machine coordinate system through normalization.

[0009] Preferably, the virtual benchmark reconstruction step further includes: The discrete data representing edge depth in the original dataset are fitted to generate a theoretical edge line that characterizes the macroscopic geometric trend of the side edge of the plate in the horizontal plane; Identify the upper and lower edge points of the plate in the thickness direction, and calculate the center line of the plate in the thickness direction based on the upper and lower edge points; The digital virtual coordinate system is constructed with the feeding direction of the plate as the X-axis, the theoretical edge line as the Y-axis reference, and the thickness center line as the Z-axis reference, with its origin set at the thickness center point at the starting end of the plate feeding.

[0010] Preferably, the deviation mapping step further includes: By iterating through the feed length of all sampling points, the difference between the actual edge depth in the original dataset and the theoretical edge depth in the digital virtual coordinate system is calculated to obtain the local offset at each location. The discrete local offsets are fitted into a compensation function that varies continuously with the feed length, and the current feed length of the plate is measured in real time by a high-precision synchronous encoder as the independent variable for calling the compensation function.

[0011] Preferably, the multi-axis linkage compensation step further includes: During the edge banding process, the actual thickness of the edge banding is measured in real time by the edge banding thickness detection module, and a thickness correction value is generated. When the side hole spindle performs axial coordinate compensation, it calculates the actual depth of cut based on the preset theoretical hole depth, the compensation function value corresponding to the current feed length, and the thickness correction value, so as to eliminate the influence of edge banding thickness fluctuation on the side hole depth.

[0012] Preferably, when the side hole spindle performs axial coordinate compensation, it also includes an automatic tool wear compensation mechanism: by monitoring the load current change of the side hole spindle servo motor in real time and comparing it with the pre-stored current-wear correspondence table, the wear degree of the current drill bit is calculated, and the wear correction value is automatically added to the axial compensation amount.

[0013] Preferably, in the multi-axis linkage compensation step, the radial adjustment of the edge banding finishing tool and the axial depth correction of the side hole spindle are both based on the compensation function pre-transmitted by the central control unit through the high-speed fieldbus and stored in the local buffer memory of each actuator. The central control unit generates a synchronization pulse based on the real-time position feedback from the encoder to ensure that the compensation action strictly corresponds to the plate feed position.

[0014] Preferably, a second set of contour scanning modules is configured at the end of the processing line to perform online verification of the edge flatness and side hole position after the edge sealing is completed, and the verification data is fed back to the central control unit in real time for closed-loop optimization adjustment of the compensation function.

[0015] Preferably, the median filtering algorithm is as follows: take a window containing five points in total, centered at each sampling point and along the feed direction; calculate the median of the edge depth values ​​within the window; if the deviation between the current point depth value and the median exceeds a preset threshold, it is determined to be a noise point and replaced with the median; the Gaussian filtering algorithm uses a one-dimensional Gaussian kernel for convolution operation.

[0016] Secondly, a side hole positioning and linkage edge sealing execution system includes: The central control unit adopts a multi-core parallel processing architecture for global logic operations, task scheduling, and data processing. The linear array contour scanning module, set at the processing start end, includes a non-contact laser displacement sensor and an air blowing dust removal device, used to capture the geometry of the side edge of the sheet material in real time and generate the original dataset. The motion control bus, using the industrial Ethernet protocol, connects the central control unit with each actuator for real-time transmission of commands and data. The edge sealing execution unit, controlled by the central control unit, includes a dynamic finishing knife set and its radial servo driver, as well as an edge sealing tape thickness detection module for real-time measurement of edge sealing tape thickness. The side hole positioning unit, controlled by the central control unit, includes the side hole spindle and its axial servo system; The central control unit reconstructs a digital virtual coordinate system with the actual geometric center of the board as a reference based on the original dataset, and generates a compensation function that varies with the feed length. Then, it drives the edge sealing execution unit and the side hole positioning unit to perform multi-axis linkage compensation processing through the motion control bus.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. This invention uses a non-contact sensor to capture the geometric shape of the side edge of the board in real time, reconstructs a digital virtual coordinate system with the actual geometric center of the board as a reference, and generates a compensation function that changes continuously with the feed length. During the edge banding and side hole processing, the system dynamically adjusts the radial displacement of the finishing tool and the axial feed of the side hole spindle according to the compensation function, so that the flatness of the edge banding surface and the center axis of the side hole are always based on the actual geometric center of the board. This effectively eliminates edge errors caused by non-straight cutting, chipping, or moisture deformation in the previous process, and greatly improves processing consistency.

[0018] 2. This invention achieves real-time linkage control between the edge sealing execution unit and the side hole positioning unit through a central control unit and a high-speed fieldbus. The compensation function is pre-stored in the local cache of each actuator, and combined with a high-precision synchronous encoder to measure the feed position of the sheet material in real time, ensuring that the compensation action is strictly synchronized with the feed position of the sheet material. This enables the system to achieve micron-level dynamic compensation even under high-speed feed conditions of 30m / min to 60m / min, meeting the needs of flexible and efficient mass production.

[0019] 3. The present invention is equipped with a second set of contour scanning modules at the end of the processing line to perform online verification of the edge banding flatness and side hole position, and feeds back the verification data to the central control unit in real time for closed-loop optimization adjustment of the compensation function. At the same time, the system integrates real-time detection of edge banding thickness and automatic tool wear compensation function, which can adaptively correct dynamic disturbances such as edge banding thickness fluctuation and drill wear, significantly improving the long-term stability of processing quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall technical solution architecture of the side hole positioning and linkage edge sealing execution method of the present invention; Figure 2This is a schematic diagram of the core principle framework of virtual benchmark reconstruction and deviation mapping in this invention; Figure 3 This is a flowchart illustrating the logical flow of real-time feature capture and preprocessing of the original dataset in this invention. Figure 4 This is a schematic diagram of the multi-level interaction relationship and data flow between the central control unit and the multi-axis actuator in this invention; Figure 5 This is a flowchart illustrating the multi-axis linkage compensation for edge banding finishing and side hole processing in this invention. Detailed Implementation

[0021] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following detailed description of specific embodiments based on the present invention is provided in conjunction with the accompanying drawings and preferred embodiments.

[0022] Reference Figures 1 to 5 As shown, in the side hole positioning linkage edge sealing execution method provided in this embodiment, the side edge of the board is reconstructed by digital means, and dynamic compensation of the processing path is realized based on the reconstructed virtual reference. In addition, this embodiment adopts a side hole positioning linkage edge sealing execution system, which includes a central control unit, a linear array contour scanning module, a motion control bus, an edge sealing execution unit, and a side hole positioning unit.

[0023] Specifically, this embodiment relates to a side hole positioning and edge sealing execution method, which includes the following steps: Step S1: Real-time feature capture. At the starting end of the processing, a non-contact laser displacement sensor is used to fully scan the side edge of the material to be processed to obtain the original dataset characterizing the edge geometry.

[0024] Step S101: Start the linear array contour scanning module to perform real-time feature capture.

[0025] When the material to be processed is conveyed by the feeding mechanism through the linear array contour scanning module, the module is immediately activated and captures the geometric contour information of the side edge of the material at a preset sampling frequency.

[0026] The linear array contour scanning module includes a non-contact laser displacement sensor, which integrates a high-frequency laser emitter and a charge-coupled device sensing array. The laser emitter projects a controlled beam onto the side edge of the board. After diffuse reflection on the edge surface, the beam is received by the sensing array. The system calculates the distance values ​​of each point on the side edge of the board relative to the sensor based on the triangulation principle.

[0027] The linear array contour scanning module is connected to the central control unit via a high-speed serial interface, and the raw distance data collected is transmitted to the input buffer of the central control unit in real time in the form of a data stream.

[0028] Step S102: Set the matching parameters for sampling frequency and feed rate.

[0029] The preset sampling frequency is set in the range of 10kHz to 50kHz. This setting ensures that when the plate feed speed reaches 30m / min to 60m / min, the sampling interval in the feed direction can be stably controlled within the microscale of 0.1mm to 0.5mm, ensuring that the collected data can truly reflect the micro-geomorphology of the edge.

[0030] Operators can adjust relevant parameters on the human-machine interface according to the material of the sheet and the processing precision requirements.

[0031] Step S103: Configure an air blowing dust removal device to ensure the cleanliness of the optical path.

[0032] The linear array contour scanning module is equipped with an air blowing dust removal device. During the scanning process, the air blowing dust removal device continuously sprays dry compressed air at a preset pressure onto the lens area of ​​the non-contact laser displacement sensor. The pressure is controlled between 0.4MPa and 0.6MPa.

[0033] The air nozzle is designed in a fan shape, and the airflow covers the entire lens protective window, which can effectively prevent debris generated during processing from blocking the laser emission and reception optical path, ensuring the continuity and accuracy of scanning data.

[0034] The air blowing dust removal device is synchronously controlled by the central control unit according to the scan start signal.

[0035] Step S104: Determine the scanning coverage area.

[0036] The effective scanning width of the linear contour scanning module covers the preset board thickness range, usually set to 10mm to 60mm, which ensures that the system can fully cover the thickness specifications of various types of panel furniture boards and avoid missing edge data due to insufficient scanning range.

[0037] The above steps S101 to S104 together complete the original data acquisition process of the geometric shape of the side edge of the plate. Through high-frequency scanning and dust removal protection measures, the system can stably acquire high-density edge contour data under high-speed feeding conditions.

[0038] Step S105: Generate the original dataset and perform real-time preprocessing.

[0039] The original dataset contains a sequence of three-dimensional spatial coordinate points of the side edge of the plate in the feeding direction. After acquiring the data, the central control unit uses multi-threaded parallel processing technology for real-time preprocessing.

[0040] The preprocessing process first applies a median filtering algorithm to remove impulse noise. The median filtering algorithm takes a window containing 5 points along the feed direction, centered on each sampling point, and calculates the median of the edge depth values ​​within the window. If the deviation between the current point depth value and the median exceeds 0.2mm, it is determined to be noise and replaced with the median.

[0041] Subsequently, a Gaussian filtering algorithm was applied to smooth the data sequence. A one-dimensional Gaussian kernel with a standard deviation of 0.3 mm and a window width of 7 points was used. Random fluctuations caused by electronic thermal noise from the sensor were eliminated through convolution operations. The filtering parameters can be adjusted on the human-computer interaction interface according to the surface roughness of the board.

[0042] Step S106: Data normalization and coordinate system transformation.

[0043] The preprocessed dataset is transformed into a numerical matrix in a unified machine coordinate system through data normalization. The origin of the machine coordinate system is set at a fixed reference point at the starting end of the feed mechanism.

[0044] The X-axis is parallel to the feed direction of the sheet metal and is provided with position pulses in real time by an incremental encoder mounted on the drive shaft of the conveyor chain. The feed length coordinate L at each sampling moment is calculated by multiplying the cumulative number of encoder pulses by the pulse equivalent of 0.01 mm per pulse.

[0045] The Y-axis represents the edge depth direction, with the sensor's installation zero point as a reference. The measured value is converted into the actual depth value using the sensor calibration coefficient.

[0046] The Z-axis represents the thickness direction of the plate material. The thickness coordinates of each point are obtained by converting the sensor's distance measurement value with the midpoint of the sensor's scanning line as a reference.

[0047] Each row of the normalized numerical matrix represents a sampling moment, including the feed length coordinate L, the edge depth coordinate Y, and the plate thickness direction coordinate Z. All coordinate units are uniformly set to millimeters.

[0048] The core of steps S105 and S106 is to perform noise reduction and standardization on the original acquired data. Interference information is removed by filtering algorithm, and the data is unified to the machine coordinate system by normalization transformation.

[0049] After completing the above real-time feature capture and data preprocessing, the system obtains a high-precision dataset that can truly reflect the geometric shape of the side edge of the board. This dataset will become the basis for subsequent virtual benchmark reconstruction and deviation mapping calculations, ensuring that the entire side hole positioning linkage edge sealing execution method can eliminate the geometric errors brought about by the previous process from the source.

[0050] Step S2, Virtual reference reconstruction: Use control algorithms to extract features from the original dataset and establish a digital virtual coordinate system with the real geometric centerline of the board as a reference.

[0051] Step S201: Input the preprocessed 3D coordinate point set.

[0052] The central control unit reads the numerical matrix after normalization in step S106 from the cache. Each row of the matrix corresponds to a sampling time and contains three coordinate components: feed length coordinate L, edge depth coordinate Y, and vertical coordinate Z in the plate thickness direction.

[0053] The above three coordinates are unified in the machine coordinate system, where the X-axis is along the feed direction of the sheet, the Y-axis is perpendicular to the normal direction of the side edge of the sheet, and the Z-axis is perpendicular to the horizontal plane and points to the thickness direction of the sheet. This set of points describes the geometry of the side edge of the sheet throughout the feed process.

[0054] Step S202: Fit the edge depth trend line.

[0055] The central control unit first fits the discrete data of Y relative to L to extract the macroscopic geometric trend of the side edge of the plate in the horizontal plane.

[0056] The fitting algorithm employs either least squares or cubic spline interpolation. When using least squares, the system assumes a linear relationship between the edge depth Y and the feed length L: Y = aL + b. Parameters a and b are solved by minimizing the sum of squared residuals. The objective function is: ; Where n is the total number of sampling points, L i Y is the feed length at point i. i Given the corresponding edge depth, the slope 'a' obtained after solving represents the overall skew angle of the board due to the previous cutting process, while the intercept 'b' is the reference offset of the feed starting point.

[0057] If cubic spline interpolation is used, the system constructs a piecewise cubic polynomial between adjacent sampling points, so that the fitted curve passes smoothly through each point, thereby describing the local bending more precisely. The fitted curve is the theoretical geometric shape of the side edge of the plate in the horizontal plane, which is the ideal benchmark for subsequent deviation calculation.

[0058] Step S203: Identify the upper and lower edge points in the thickness direction.

[0059] At the same time, the system analyzes the thickness direction coordinate Z. Since the effective scanning width of the linear array contour scanning module covers the entire thickness range of the plate, a set of Z values ​​distributed along the thickness direction can be obtained at each feed position L.

[0060] To determine the intersection of the upper and lower surfaces of the sheet metal on the side, the system searches for the maximum and minimum values ​​of Z within each L-slice. The maximum value z... maxThe minimum value z corresponds to the point near the upper edge of the upper surface of the board. min This corresponds to the lower edge point near the lower surface of the board.

[0061] If multiple equal maximum or minimum values ​​appear at a certain L position due to noise or defects, then the Z value sequence collected along the thickness direction at that L position is subjected to moving average filtering with a filtering window width of 5 adjacent sampling points. The maximum and minimum values ​​are then re-determined using the filtered sequence to ensure that the extreme values ​​are unique.

[0062] The above process iterates through all L positions to obtain the upper edge point sequence (x i ,z max,i ) and lower edge point sequence (x i ,z min,i ).

[0063] Step S204: Calculate the centerline in the thickness direction.

[0064] Based on the upper and lower edge points identified in step S203, calculate the coordinates of the midpoint in the thickness direction at each L position: ;

[0065] Connecting these midpoints in the feed order yields the centerline in the thickness direction of the sheet material. This centerline reflects the geometric symmetry axis of the sheet material in the thickness direction. It may fluctuate slightly with the twisting of the sheet material, but it can usually be regarded as a smooth curve.

[0066] The presence of a centerline allows subsequent processing to be referenced to the true thickness center of the sheet material, rather than relying on a potentially deformable physical surface.

[0067] The above steps S202 to S204 together achieve bidirectional extraction of the geometric features of the side edge of the plate. That is, the theoretical edge line is obtained by fitting in the horizontal direction, and the center line is obtained by extreme value calculation in the thickness direction. The combination of these two lines constitutes the core element of the digital virtual benchmark.

[0068] Step S205: Establish a digital virtual coordinate system.

[0069] With the feed direction as the X-axis, the theoretical edge line obtained in step S202 as the reference for the Y-axis direction, and the thickness center line obtained in step S204 as the reference for the Z-axis direction, the system constructs a digital virtual coordinate system that adapts to the actual shape of the sheet material.

[0070] Specifically, the origin of the digital virtual coordinate system is set at the thickness center point at the starting end of the sheet material feeding. The X-axis is parallel to the feeding direction, the Y-axis is perpendicular to the side edge of the sheet material and points to the inside of the sheet material, with its zero point located on the theoretical edge line, and the Z-axis is perpendicular to the horizontal plane, with its zero point located on the thickness center line.

[0071] In a digital virtual coordinate system, the position of any point on the board can be represented as the offset relative to the theoretical edge and the thickness center, thereby eliminating the reference error caused by the irregularity of the original physical edge.

[0072] Step S206: Output virtual reference parameters.

[0073] The central control unit will use the fitted slope a, intercept b, and coordinates z of each point on the thickness centerline. mid,i The data is stored in a cache and transmitted in real time from a to b to the actuator's buffer memory via the motion control bus for use in the subsequent step S3 when generating the compensation function. The thickness centerline data is used as a reference for correcting the axial coordinates during side hole machining.

[0074] In summary, the system successfully transforms the potentially bent, chipped, or deformed side edges of the board into a set of digital reference parameters with the actual geometric center of the board as the reference. This reference is no longer affected by errors in the previous process, providing an accurate and stable reference system for subsequent deviation mapping and multi-axis linkage compensation, ensuring that edge banding and side hole processing can truly achieve dynamic adaptive adjustment based on the actual geometric characteristics of the board.

[0075] Step S3, Deviation Mapping: Compare the actual edge of the plate with the theoretical edge in the virtual coordinate system to generate a compensation function Δ(L) that varies with the plate feed length L.

[0076] Step S301: Read the theoretical edge and actual edge data.

[0077] The central control unit retrieves two sets of data from the cache. Specifically: The first set of data is the theoretical edge line in the digital virtual coordinate system constructed in step S2. This theoretical edge line is stored in the form of a fitting function or spline curve, representing the edge position of the board in an ideal state.

[0078] The second set of data consists of the raw actual edge point cloud data collected and preprocessed in step S1. Each data point contains the feed length coordinate L and the corresponding actual edge depth coordinate.

[0079] The two sets of data provide a benchmark and measured values ​​for subsequent deviation calculations.

[0080] Step S302: Calculate the edge offset point by point.

[0081] The system iterates through the feed length L of all sampling points. For each L position, it calculates the difference between the actual edge depth and the theoretical edge depth to obtain the local offset Δ at that position. local .

[0082] Δ localIt equals the actual depth minus the theoretical depth. A positive offset indicates that the side edge of the board protrudes outward relative to the theoretical reference, while a negative offset indicates that it is recessed inward.

[0083] The above calculations cover the entire feed length range of the plate, forming a set of discrete offset data points, each point being determined by the feed length L. i and the corresponding offset Δ local,i composition.

[0084] Step S303: Generate the continuous compensation function Δ(L).

[0085] To meet the requirement that the subsequent actuators can obtain accurate compensation values ​​at any feed position, the central control unit will use the discrete local offset Δ obtained in step S302. local,i A compensation function Δ(L) is fitted to the feed length L and varies continuously.

[0086] Functional processing can employ various numerical methods. For example, linear interpolation can ensure piecewise linear continuity, cubic spline interpolation can obtain smooth compensation curves, and polynomial fitting can be selected based on the characteristics of the deviation distribution.

[0087] The processed Δ(L) can be stored in the form of a function expression or a high-density discrete table, ensuring that the compensation value can be quickly obtained by interpolation at any feed length L.

[0088] The steps S301 to S303 above together complete the transformation from the original deviation data to the continuous compensation function, integrating the discrete local offsets into a mathematical model that can be called in real time, providing accurate numerical basis for subsequent dynamic compensation.

[0089] Step S304: The synchronous encoder accurately measures the feed position.

[0090] To ensure that the compensation command strictly corresponds to the actual position of the plate, the system uses a high-precision synchronous encoder for position tracking. The encoder is installed on the drive shaft of the conveyor chain plate and outputs no less than 10,000 pulses per revolution, which can convert the rotational motion into a high-resolution pulse sequence.

[0091] The material feed distance per encoder revolution is determined by the drive shaft circumference or the transmission mechanism speed ratio. The system sets the pulse equivalent accordingly, for example, 0.01 mm per pulse.

[0092] The central control unit captures encoder pulses in real time via hardware interrupts and calculates the current feed length L of the board based on the cumulative number of pulses multiplied by the pulse equivalent, with the measurement error controlled within 0.01mm.

[0093] Real-time location information is used as the independent variable for calling the compensation function Δ(L).

[0094] Step S305: The compensation function is transmitted to the actuator in real time.

[0095] The central control unit transmits the generated compensation function Δ(L) to the buffer memory of the edge sealing execution unit and the side hole positioning unit via a high-speed fieldbus.

[0096] The fieldbus adopts the industrial Ethernet protocol with a communication rate of no less than 100Mbps, ensuring the real-time performance and reliability of data transmission.

[0097] The buffer memory on the actuator side pre-stores the compensation function curve. During the actual processing, each servo driver directly reads the corresponding compensation value from the local memory based on the current feed length L fed back by the synchronous encoder, thereby minimizing communication delay and ensuring that the compensation action is synchronized with the sheet feed.

[0098] In summary, the system transforms the actual edge error of the board into a dynamically callable continuous compensation function Δ(L) through point-by-point calculation, functional fitting, and high-precision position synchronization. This function will provide a key correction basis for subsequent multi-axis linkage compensation steps, ensuring that edge sealing and side hole processing can respond to the real geometric changes of the board in real time.

[0099] Step S4, multi-axis linkage compensation.

[0100] Before performing multi-axis linkage compensation, the system receives the theoretical hole depth parameters input by the operator through the human-machine interface, or reads the preset theoretical hole depth value from the machining task file, denoted as D. target This parameter will serve as the base depth for machining the side holes.

[0101] During the edge banding process, the radial displacement of the edge banding finishing tool is dynamically adjusted according to Δ(L); at the same time, the side hole spindle is controlled to perform axial coordinate compensation according to Δ(L) to ensure that the center axis of the side hole always coincides with the center plane of the plate.

[0102] Step S401: Receive compensation command and synchronization trigger signal.

[0103] The central control unit transmits the pre-stored compensation function Δ(L) to the local buffer memory of the edge sealing execution unit and the side hole positioning unit in real time via the motion control bus.

[0104] Simultaneously, the continuously measured current feed length L is broadcast to each actuator in the form of a synchronization pulse. This synchronization pulse is generated by the central control unit based on the real-time position feedback from the encoder and sent periodically.

[0105] The encoder is installed on the drive shaft of the conveyor chain plate and outputs no less than 10,000 pulses per revolution. After being captured by hardware interrupt, the pulses are converted into the feed length with a measurement error of less than 0.01mm.

[0106] This synchronization mechanism ensures that the compensation action strictly corresponds to the actual position of the board.

[0107] Step S402: Radial dynamic adjustment of the edge sealing finishing tool.

[0108] When the sheet metal moves to a specific length L with the feeding mechanism, the dynamic finishing knife group of the edge banding execution unit reads the compensation value corresponding to that position according to the locally stored compensation function Δ(L).

[0109] If Δ(L) is negative, it indicates that the side edge of the plate is concave inward relative to the theoretical reference. The radial servo driver immediately drives the finishing tool to advance inward along the thickness direction of the plate by a distance equal to the amount of concavity.

[0110] If Δ(L) is positive, the tool will retract slightly outward to avoid excessive cutting.

[0111] The radial servo drive adopts a three-loop closed-loop control consisting of a position loop, a speed loop, and a current loop. The encoder resolution is no less than 23 bits, and the repeatability is within ±0.01mm, thus ensuring that the surface after the edge banding tape is pasted and trimmed achieves ideal flatness with the main plane of the board.

[0112] Step S403: Real-time acquisition of edge banding thickness correction value.

[0113] The edge banding tape thickness detection module is installed on the edge banding tape conveyor path. It typically uses a laser displacement sensor or a high-precision contact thickness measuring device to measure the thickness of the edge banding tape at a sampling rate of not less than 1kHz during continuous feeding.

[0114] The thickness correction value δ is obtained by subtracting the measured value from the preset standard thickness. edge This value is uploaded to the central control unit in real time via the fieldbus and synchronously forwarded to the local cache of the side hole positioning unit for depth correction in subsequent step S404.

[0115] This mechanism effectively eliminates the impact of thickness variations caused by batch differences or tension fluctuations in the edge banding on the depth of the side holes.

[0116] Step S404: Dynamic correction of the axial feed depth of the side hole spindle.

[0117] After receiving the same synchronous trigger signal as in step S401, the axial servo system of the side hole positioning unit first retrieves the thickness centerline coordinate z output in step S2 from the local buffer according to the current feed length L. mid,iThe axial zero point of the spindle is set as the center position of the thickness, that is, the center plane of the plate thickness is used as the axial positioning reference.

[0118] Subsequently, the system calls the compensation value Δ(L) based on the current feed length L, and reads the thickness correction value δ fed back by the edge banding thickness detection module in real time. edge .

[0119] The axial servo system calculates the actual depth of cut based on the following formula: ; Among them, D target The theoretical hole depth is preset, Δ(L) is the edge deviation compensation value generated in step S3, and δ is the theoretical hole depth. edge This is the correction value for the edge banding thickness.

[0120] After the calculation is completed, the axial servo system precisely controls the drill bit to feed along the thickness direction of the plate from the zero point at the thickness center to a depth D. actual This ensures that the center axis of the side hole always falls on the digital center plane of the board, and even if there are local depressions or protrusions on the side edge of the board, the hole position is still referenced to the actual geometric center of the board.

[0121] Step S405: Process status monitoring and anomaly handling.

[0122] During the multi-axis linkage compensation execution, the central control unit continuously monitors the following error of each servo drive, the actual position feedback, and the data validity of the edge banding thickness detection module.

[0123] If the following error of any servo drive exceeds the preset threshold, or if the raw dataset acquired by the linear array contour scanning module shows abnormal fluctuations, the system immediately triggers an alarm signal and controls the feed mechanism to decelerate or stop in an emergency via the motion control bus to prevent the generation of defective products. At the same time, the system records the compensation function value and actual position at the abnormal moment in the log for subsequent analysis and optimization.

[0124] In summary, the multi-axis linkage compensation process achieves dynamic adaptive compensation for the geometric deformation of the side edge of the board and the thickness fluctuation of the edge banding through the coordinated action of radial adjustment of the edge banding tool and axial depth correction of the side hole. The surface flatness and the accuracy of the side hole position after edge banding are based on the true geometric center of the board, which gets rid of the limitations of traditional mechanical positioning that depends on the physical edge, and provides high consistency of processing quality for subsequent hardware installation and cabinet assembly.

[0125] This embodiment provides a side hole positioning and linkage edge sealing execution system, the hardware architecture and functional module design of which are as follows: The system mainly includes a central control unit, a linear array contour scanning module, a motion control bus, an edge sealing execution unit, and a side hole positioning unit. The central control unit is responsible for global logic operations and task scheduling. It is connected to each actuator through the motion control bus to realize real-time transmission and synchronous control of commands.

[0126] The central control unit adopts a multi-core parallel processing architecture and integrates a real-time task scheduler, which can ensure that the total delay time from data acquisition from the linear array contour scanning module to compensation command output is less than 1ms. The system is also equipped with a high-speed cache module to store the complete contour mapping map of the currently processed material. In the event of a power outage or abnormal shutdown, the processing posture can be quickly restored from the cache to avoid scrapping the material or resetting the tool.

[0127] The motion control bus adopts the industrial Ethernet protocol with a communication rate of no less than 100Mbps, ensuring low-latency transmission of compensation functions and synchronization signals. Each servo driver in the system has a three-loop closed-loop control function consisting of a position loop, a speed loop, and a current loop. Its built-in encoder has a resolution of no less than 23 bits, enabling precise displacement control at the micrometer level.

[0128] The edge banding execution unit is controlled by the central control unit and includes a dynamic finishing tool set. This tool set is equipped with a radial servo driver, which can adjust the radial position of the tool in real time according to the compensation command during the processing. The radial servo driver drives the tool set to move along the thickness direction of the plate through a ball screw or linear motor, with a response time within milliseconds.

[0129] In addition, the edge sealing execution unit also integrates an edge sealing tape thickness detection module. This module typically uses a laser displacement sensor or a high-precision contact thickness measuring device to measure the actual thickness of the edge sealing tape during continuous feeding at a sampling rate of no less than 1 kHz. The difference between the measured value and the standard thickness is used as the thickness correction value δ. edge The data is fed back to the central control unit via the fieldbus and superimposed on the compensation function to correct the depth of cut of the side hole spindle.

[0130] The side-hole positioning unit is also controlled by the central control unit, which includes the side-hole spindle and its axial servo system. This unit is equipped with an automatic tool wear compensation system. The system monitors the load current changes of the side-hole spindle servo motor in real time, compares the current value with a pre-stored current-wear correspondence table, calculates the current wear level of the drill bit, and automatically adds a wear correction value to the axial compensation. This correspondence table was obtained through previous experiments, recording the typical increment of the motor load current under different wear conditions. The central control unit looks up the wear correction amount in the table based on the current increment, thereby maintaining the long-term consistency of the drilling depth.

[0131] The dynamic finishing tool set uses a high-frequency electric spindle with a speed range of 12,000 rpm to 18,000 rpm, which can meet the cutting requirements of different edge banding materials. The electric spindle is mounted on a high-precision linear module, and the repeatability of the module is controlled within ±0.01 mm to ensure the accuracy of the tool radial adjustment.

[0132] The system also features a human-machine interface for real-time display of the digital reconstruction contour of the board, the compensation function curve, and processing deviation statistics. Operators can use this interface to set control parameters such as compensation gain coefficient and filter intensity parameters to adapt to the processing needs of different batches of boards.

[0133] During the establishment of the digital virtual coordinate system, the system makes full use of the linear array contour scanning module to identify the positions of the front and rear faces of the plate, automatically calculates the total length of the plate, and uses this to calibrate the cumulative error of the feed length, thereby further improving the positioning accuracy.

[0134] The system has a complete self-diagnostic function. When the raw dataset collected by the linear array contour scanning module shows abnormal fluctuations, or when the following error of any servo drive exceeds the preset threshold, the central control unit immediately issues an alarm signal and controls the feed mechanism to decelerate or stop urgently through the motion control bus to prevent the generation of scrap or damage to the equipment.

[0135] To achieve closed-loop control of processing quality, the system is equipped with a second set of contour scanning modules at the end of the processing line. This module performs online verification of the edge flatness and side hole position after the edge sealing is completed. The verification data is fed back to the central control unit in real time for closed-loop optimization and adjustment of the compensation function, so that the accuracy of subsequent processing is gradually improved.

[0136] In summary, this system tightly couples the geometric features of the plate side edge with the processing path through unified scheduling by the central control unit, real-time data acquisition by high-precision sensors, reliable transmission by the high-speed bus, and dynamic compensation by the actuator, thereby achieving linkage control of side hole positioning and edge sealing.

[0137] The modules work together to ensure the flatness of the edge banding surface and the accuracy of the side hole positions, solving the problem that traditional mechanical positioning methods cannot cope with board deformation, and providing reliable technical support for the flexible and high-precision production of panel furniture.

[0138] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects.

[0139] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment includes only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for side hole positioning and linked edge sealing, characterized in that, Includes the following steps: Real-time feature capture step: At the starting end of the plate processing, the side edge of the plate is scanned by a non-contact sensor to obtain the original dataset characterizing its edge geometry. Virtual reference reconstruction steps: Based on the original dataset, feature lines of the side edge of the board are extracted by a control algorithm to establish a digital virtual coordinate system with the real geometric center of the board as a reference; Deviation mapping step: Compare the actual edge of the plate with the theoretical edge in the digital virtual coordinate system to generate a compensation function that varies with the feed length of the plate; Multi-axis linkage compensation steps: During the edge banding process, the radial displacement of the edge banding finishing tool is dynamically adjusted according to the compensation function; at the same time, the side hole spindle is controlled to perform axial coordinate compensation according to the compensation function to ensure that the center axis of the side hole coincides with the true geometric center plane of the plate.

2. The side hole positioning and sealing method according to claim 1, characterized in that, The real-time feature capture step further includes: The side edge of the plate is fully scanned at a preset sampling frequency, and an air blowing dust removal device is configured to continuously clean the lens optical path of the non-contact sensor to ensure the continuity of data acquisition. The original dataset is preprocessed in real time by the central control unit. The preprocessing includes removing impulse noise by applying a medium-value filtering algorithm and smoothing the data sequence by applying a Gaussian filtering algorithm to eliminate interference information. The preprocessed data is transformed into a numerical matrix in a unified machine coordinate system through normalization.

3. The side hole positioning and sealing method according to claim 1, characterized in that, The virtual benchmark reconstruction steps further include: The discrete data representing edge depth in the original dataset are fitted to generate a theoretical edge line that characterizes the macroscopic geometric trend of the side edge of the plate in the horizontal plane; Identify the upper and lower edge points of the plate in the thickness direction, and calculate the center line of the plate in the thickness direction based on the upper and lower edge points; The digital virtual coordinate system is constructed with the feeding direction of the plate as the X-axis, the theoretical edge line as the Y-axis reference, and the thickness center line as the Z-axis reference, with its origin set at the thickness center point at the starting end of the plate feeding.

4. The side hole positioning and sealing method according to claim 3, characterized in that, The deviation mapping step further includes: By iterating through the feed length of all sampling points, the difference between the actual edge depth in the original dataset and the theoretical edge depth in the digital virtual coordinate system is calculated to obtain the local offset at each location. The discrete local offsets are fitted into a compensation function that varies continuously with the feed length, and the current feed length of the plate is measured in real time by a high-precision synchronous encoder as the independent variable for calling the compensation function.

5. The side hole positioning and sealing method according to claim 1, characterized in that, The multi-axis linkage compensation steps further include: During the edge banding process, the actual thickness of the edge banding is measured in real time by the edge banding thickness detection module, and a thickness correction value is generated. When the side hole spindle performs axial coordinate compensation, it calculates the actual depth of cut based on the preset theoretical hole depth, the compensation function value corresponding to the current feed length, and the thickness correction value, so as to eliminate the influence of edge banding thickness fluctuation on the side hole depth.

6. The side hole positioning and sealing method according to claim 5, characterized in that, When the side-hole spindle performs axial coordinate compensation, it also includes an automatic tool wear compensation mechanism: by monitoring the load current change of the side-hole spindle servo motor in real time and comparing it with the pre-stored current-wear correspondence table, the wear degree of the current drill bit is calculated, and the wear correction value is automatically added to the axial compensation amount.

7. The side hole positioning and sealing method according to claim 1, characterized in that, In the multi-axis linkage compensation step, the radial adjustment of the edge banding finishing tool and the axial depth correction of the side hole spindle are both based on the compensation function pre-transmitted by the central control unit through the high-speed fieldbus and stored in the local buffer memory of each actuator. The central control unit generates a synchronization pulse based on the real-time position feedback from the encoder to ensure that the compensation action strictly corresponds to the plate feed position.

8. The side hole positioning and sealing method according to claim 1, characterized in that, A second set of contour scanning modules is configured at the end of the processing line to perform online verification of the edge flatness and side hole position after the edge sealing is completed, and the verification data is fed back to the central control unit in real time for closed-loop optimization adjustment of the compensation function.

9. The side hole positioning and sealing method according to claim 2, characterized in that, The median filtering algorithm is as follows: take a window containing five points in total, centered at each sampling point and along the feed direction; calculate the median of the edge depth values ​​within the window; if the deviation between the current point depth value and the median exceeds a preset threshold, it is determined to be noise and replaced with the median; the Gaussian filtering algorithm uses a one-dimensional Gaussian kernel for convolution operation.

10. A side hole positioning and linkage edge sealing execution system, used to implement the side hole positioning and linkage edge sealing execution method according to any one of claims 1 to 9, characterized in that, include: The central control unit adopts a multi-core parallel processing architecture for global logic operations, task scheduling, and data processing. The linear array contour scanning module, set at the processing start end, includes a non-contact laser displacement sensor and an air blowing dust removal device, used to capture the geometry of the side edge of the sheet material in real time and generate the original dataset. The motion control bus, using the industrial Ethernet protocol, connects the central control unit with each actuator for real-time transmission of commands and data. The edge sealing execution unit, controlled by the central control unit, includes a dynamic finishing knife set and its radial servo driver, as well as an edge sealing tape thickness detection module for real-time measurement of edge sealing tape thickness. The side hole positioning unit, controlled by the central control unit, includes the side hole spindle and its axial servo system; The central control unit reconstructs a digital virtual coordinate system with the actual geometric center of the board as a reference based on the original dataset, and generates a compensation function that varies with the feed length. Then, it drives the edge sealing execution unit and the side hole positioning unit to perform multi-axis linkage compensation processing through the motion control bus.

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