CN116442326B - Cutting path analysis algorithm of double Z-axis full-automatic foam cutting machine - Google Patents
Cutting path analysis algorithm of double Z-axis full-automatic foam cutting machine Download PDFInfo
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- 238000005520 cutting process Methods 0.000 title claims abstract description 101
- 239000006260 foam Substances 0.000 title claims abstract description 49
- 238000004458 analytical method Methods 0.000 title claims abstract description 17
- 238000012163 sequencing technique Methods 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000005485 electric heating Methods 0.000 claims description 15
- 238000010438 heat treatment Methods 0.000 claims description 14
- 239000013598 vector Substances 0.000 claims description 13
- 238000009877 rendering Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 4
- 238000004364 calculation method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000010606 normalization Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000006261 foam material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
- B26F3/00—Severing by means other than cutting; Apparatus therefor
- B26F3/06—Severing by using heat
- B26F3/08—Severing by using heat with heated members
- B26F3/12—Severing by using heat with heated members with heated wires
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/005—Computer numerical control means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to a cutting path analysis algorithm of a double-Z-axis full-automatic foam cutting machine, and belongs to the technical field of cutting algorithms. The method specifically comprises the following steps: step one: model importing stage: initializing and loading the three-dimensional model file; step two: and (3) a rejection stage: removing some triangular patches which cannot be cut; step three: planning: cutting and planning the rest triangular patches after the second step is removed, and particularly sequencing the cutting sequence of each triangular patch; step four: a cutter recognizable language is generated. The algorithm can directly analyze the three-dimensional model, automatically eliminates the plane which cannot be cut by the foam cutting machine and generates a path, replaces the mode that the traditional control software needs to carry out secondary programming manually, reduces the labor cost, improves the working efficiency and saves the processing cost of the foam.
Description
Technical Field
The application relates to a cutting path analysis algorithm of a double-Z-axis full-automatic foam cutting machine, and belongs to the technical field of cutting algorithms.
Background
The foam cutting machine is mainly used for cutting foam materials, and can be used for cutting hard foam, soft foam and plastic into square, rectangular, strip-shaped and the like by pressurizing and generating heat through the electric heating wire, and any graph can be input into a computer for cutting.
The existing electric heating wire foam cutting machine is single in form, generally shows that the electric heating wire is always horizontal, has a small application range, and can only meet certain specific square structures. When special patterns such as arc angles and the like need to be cut, a rotating base needs to be introduced, and the operation is complicated.
In the use of the machine tool, most of equipment for cutting the three-dimensional model also needs to be manually programmed twice on an upper computer, has certain technical requirements for operators, and has lower efficiency.
Disclosure of Invention
The application aims to solve the technical problem of providing a cutting path analysis algorithm of a double-Z-axis full-automatic foam cutting machine, which can directly analyze a three-dimensional model, automatically remove a plane which cannot be cut by the foam cutting machine and generate a path, replace the mode that traditional control software needs to carry out secondary programming manually, reduce the labor cost, improve the working efficiency and save the processing cost of foam.
In order to solve the problems, the specific technical scheme of the application is as follows: the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine comprises the following steps: y-axis driving devices are respectively arranged on the left side and the right side of the rectangular bottom frame, the Y-axis driving devices on each side are connected with a Z-axis driving device in a sliding manner, and the tops of the Z-axis driving devices on the left side and the right side are connected with a horizontal connecting beam together; each Z-axis driving device is connected with vertical sliding blocks in a sliding manner, one of the vertical sliding blocks is connected with a turbine spring, the movable end of the turbine spring is connected with one end of an electric heating wire, and the other end of the electric heating wire is fixed on the other vertical sliding block;
the cutting path analysis algorithm of the double Z-axis full-automatic foam cutting machine comprises the following steps:
step one: model importing stage: initializing and loading the three-dimensional model file;
1.1 Extracting a space point sequence and a plane normal vector sequence from the three-dimensional model file;
1.2 Generating triangular patches from the sequence of spatial points and the sequence of planar normal vectors;
1.3 Performing visual rendering on the triangular patches;
step two: and (3) a rejection stage: rejecting certain triangular patches which cannot be cut:
2.1 Extracting three vertexes of each triangular patch;
2.2 Calculating a planar normal vector from the three vertices;
2.3 Calculating the Z value of the intersection point between the plane where the triangular patch is located and the Z-axis driving device on the left side of the cutting machine, calculating the Z value of the intersection point between the plane where the triangular patch is located and the Z-axis driving device on the right side of the cutting machine, and marking the triangular patch which cannot be cut as a removed triangular patch;
2.4 2.3) eliminating the marked triangular patches and re-rendering;
step three: planning: cutting and planning the rest triangular patches after the second step is removed, and particularly sequencing the cutting sequence of each triangular patch;
3.1 Setting the origin as a base point S;
3.2 Searching for the triangular patch nearest to the base point；
3.3 Extracting triangular dough sheetIs included in the three vertices of (a);
3.4 Calculating triangular patches from three verticesThree-dimensional equation of the plane and extracting equation parameter +.>、、/>；
3.5 Traversing all other triangular patches, each traversal being noted asSpecifically, triangular patches are extracted respectively>Calculating triangular patches +.>Three-dimensional equation of the plane and extracting three-dimensional equation parameter +.>、/>、/>；
3.6 Triangular dough sheetThree-dimensional equation parameters of the plane>、/>、/>With other triangular patches->Three-dimensional equation parameters of the plane>、/>、/>Match and generate new units->；
3.7 Searching for a base point S with respect to a new cellIs a hand-in point of:
3.8 Generating new unitsThe cutting machine of (2) can recognize language;
3.9 Eliminating triangular dough sheetAnd triangular face piece->Updating the base point;
removing triangular dough sheetAnd triangular face piece->To eliminate the interference of the triangular patches which are closest to the base point in the subsequent repeated searching;
repeatedly executing the steps 3.2) to 3.9) for sequencing the cutting sequence of each triangular patch until all triangular patches are removed;
step four: a generation stage, namely generating a recognizable language of the cutter;
this stage is for the new unit in step three 3.8)Analyzing;
4.1 Acquiring a new cellNormal vector of->=(/>,/>,/>) Entry point->And cut-out point->The new unit is the cutting unit;
4.2 Respectively calculating unitIs->Z-value corresponding to the left Z-axis drive>Z-value +.>Cutting out Point->Z-value corresponding to the left Z-axis drive>Z-value +.>；
4.3 Rate conversion)
Controlling the movement rate of the actual contact position of the heating wire and the foam to be constant, and calculating the cutting rate of the heating wire in real time according to the actual cutting position of the foam；
4.4 G code is generated;
according to、/>、/>、/>、/>、/>、/>And G codes suitable for the foam cutting machine are generated and sent to a lower computer through serial communication.
The turbine spring is wound with a plurality of rings of steel wire ropes, the tail ends of the steel wire ropes are connected with the electric heating wires, when the turbine spring stretches, the steel wire ropes are sent out, and when the turbine spring contracts, the steel wire ropes are rewound into the turbine spring.
The vertical sliding block connected with the turbine spring is provided with a through hole, and a steel wire rope on the turbine spring penetrates through the through hole on the vertical sliding block and is connected with the electric heating wire.
The application adopts the technical scheme and has the following advantages:
1. the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine can be directly imported into a three-dimensional STL file, so that the mode that most of traditional foam cutting machine numerical control software can only be imported into a two-dimensional model is replaced;
2. the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine can directly analyze the three-dimensional model, and automatically eliminates the plane which cannot be cut by the foam cutting machine;
3. the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine can directly calculate the three-dimensional model cutting path, directly generate the G code applicable to the foam cutting machine, replace the mode that most of traditional control software needs to be manually programmed for the second time, reduce the labor cost, improve the working efficiency and save the processing cost of foam;
4. the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine can realize independent control of the Z-axis driving devices on the left side and the right side, so that the heights of the vertical sliding blocks which are in sliding connection on the Z-axis driving devices on the left side and the right side are changed differently, and the electric heating wires and the horizontal plane can form different inclination angles.
Drawings
Fig. 1 is a perspective view of a dual Z-axis full automatic foam cutter.
Fig. 2 is a front view of a dual Z-axis fully automatic foam cutter.
FIG. 3 is a flow chart of a three-dimensional foam model cut path analysis algorithm.
Wherein, 1-bottom frame, 2-vertical slider, 3-tie beam, 4-heating wire, 5-turbine spring, 6-Y axle drive arrangement, 7-Z axle drive arrangement.
Detailed Description
As shown in fig. 1 and 2, a structure of a double Z-axis full-automatic foam cutting machine is as follows: y-axis driving devices 6 are respectively arranged on the left side and the right side of the rectangular bottom frame 1, the Y-axis driving devices 6 on each side are connected with a Z-axis driving device 7 in a sliding manner, and the tops of the Z-axis driving devices 7 on the left side and the right side are connected with a horizontal connecting beam 3 together; each Z-axis driving device 7 is connected with vertical sliding blocks 2 in a sliding manner, one vertical sliding block 2 is connected with a turbine spring 5, the movable end of the turbine spring 5 is connected with one end of an electric heating wire 4, and the other end of the electric heating wire 4 is fixed on the other vertical sliding block 2; wherein, the Z-axis driving devices 7 at two sides are respectively provided with a motor for driving, so that the vertical sliding blocks 2 respectively act; the Y-axis driving devices 6 on both sides run synchronously, and a motor at the front end is adopted for synchronous driving.
The turbine spring 5 is externally wound with a plurality of rings of steel wire ropes, the tail ends of the steel wire ropes are connected with the electric heating wires 4, when the turbine spring 5 stretches, the steel wire ropes are sent out, and when the turbine spring 5 contracts, the steel wire ropes are rewound into the turbine spring 5, so that the electric heating wires 4 are always in a straightening state in a working state.
A through hole is formed in the vertical sliding block 2 connected with the turbine spring 5, and a steel wire rope on the turbine spring 5 penetrates through the through hole in the vertical sliding block 2 and is connected with the heating wire 4; when the vertical sliding block 2 moves up and down, the turbine spring 5 contracts and stretches, the steel wire rope moves inside the through hole and is continuously sent out and retracted, and interference between the steel wire rope and the vertical sliding block 2 is prevented.
As shown in fig. 3, the cutting path analysis algorithm of the double-Z-axis full-automatic foam cutting machine is based on the open source visual development library VTK (Visualization Toolkit) technology of OpenGL to analyze a model to be cut. The algorithm comprises the following steps:
step one: model importing stage: initializing and loading the three-dimensional model file;
1.1 Extracting a space point sequence and a plane normal vector sequence from the three-dimensional model file;
loading an STL model from a file through a vtkSTLRead function, wherein model data is stored in a data type VTK PolyData form in a VTK;
1.2 Generating triangular patches, i.e. units, from the sequence of spatial points and the sequence of planar normal vectors;
rendering polygonal geometric data, inputting data by using a data type VTK PolyData, converting the input data into triangular patches, recording the total number of the triangular patches as n, and recording each triangular patch as；
1.3 Performing visual rendering on the triangular patches;
step two: and (3) a rejection stage: due to the limitation of the inclination angle between the electric heater of the cutter and the ground, certain triangular patches which cannot be cut need to be removed before path planning;
2.1 Extracting three vertexes of each triangular patch;
converting the data in the form of VTK PolyData into a vtkCell type by adopting a Getcell function of the VTK;
traversing triangular patchEach time a traversal is noted +.>The method comprises the steps of carrying out a first treatment on the surface of the Three vertices (++) of triangular patches are extracted using the GetPoints function of VTK>,/>) By vertex->For example, three verticesThe values of the dimensional coordinates x, y, z are recorded as +.>，/>，；
2.2 Calculating a planar normal vector from the three vertices;
using the Computenormal method under the vtkTriangle class through three vertices,/>) Calculating triangular patches->Normal vector of +.>；
At the position ofWhen equal to 0, if->Equal to 0 and->Is not equal to 0, the triangular face piece +.>Marked as a cuttable triangular patch, otherwise marked as a culled triangular patch;
2.3 Calculating the Z value of the intersection point between the plane of the triangular patch and the Z-axis driving device 7 on the left side of the cutting machine, calculating the Z value of the intersection point between the plane of the triangular patch and the Z-axis driving device 7 on the right side of the cutting machine, and marking the triangular patch which cannot be cut as a triangular patch to be removed;
triangular dough sheetThree vertices (+)>,/>) Y-axis maximum and minimum of (2), respectively marked +.>、；
Calculating triangular patchesThe planes in which are located are equal to +.>、/>The Z value mapped to the left-hand Z-axis drive 7 of the cutter is marked +.>、/>；
Maximum height usable for a specified vertical axis;
the X-axis position corresponding to the specified right Z-axis driving device 7 of the cutting machine, namely the cutting space length of the cutting machine in the X-axis direction;
；
when (when)Or->Not in interval [0, ]>]When the triangular dough sheet is in the inner state, namely, the position which cannot be reached by the Z-axis driving device 7 on the left side of the cutting machine exists in the cutting process of the triangular dough sheet, namely, the triangular dough sheet is marked as the removed triangular dough sheet;
calculating triangular patchesThe planes in which are located are equal to +.>、/>The Z value mapped to the right-hand Z-axis drive 7 of the cutter is marked +.>、/>；
；
When (when)Or->Not in interval [0, ]>]In the inner case, namely, the triangular dough sheet is in the cutting process and the right Z-axis driving device 7 of the cutting machine cannot reachThe position is marked as a triangular patch elimination;
2.4 2.3) eliminating the marked triangular patches and re-rendering;
the triangle patches marked and removed are deleted by using a DeleteCELL command under a vtkcell library;
step three: planning: cutting and planning the rest triangular patches after the second step is removed, and particularly sequencing the cutting sequence of each triangular patch;
3.1 Setting the origin as a base point S;
setting the total number of the triangular patches remained after the elimination as m; setting an origin as a base point S;
3.2 Searching for the triangular patch nearest to the base point；
The VTK PolyData data after being removed is used as a vtkCelllocator data set to establish a locator, and a triangular patch closest to a base point S is obtained through a FindCloseSTPoint function under the vtkCelllocator library；
3.3 Extracting triangular dough sheetIs included in the three vertices of (a);
extraction of triangular patches using a method under the VtkCell classThree vertices (+)>,/>) By vertex->For example, the three-dimensional coordinates of the vertex are recorded as +.>；
Triangular dough sheetThree vertices (+)>,/>) The maximum in the X-axis direction of (2), marked +.>；
Triangular dough sheetThree vertices (+)>,/>) Maximum and minimum in Y-axis direction of (2), marked as +.>、/>；
Triangular dough sheetThree vertices (+)>,/>) Maximum and minimum in the Z-axis direction of (2), marked as +.>、/>；
3.4 Calculating triangular patches from three verticesThree-dimensional equation of the plane and extracting equation parameter a e 、b e、 c e 、d e The calculation formulas are respectively as follows:
；
because the numerical range between each group of parameters obtained by the method is uncertain and cannot be compared, normalization processing is required to be carried out on the obtained parameters;
pair a e 、b e、 c e 、d e Linear normalization is performed, when b e When the value is not 0, guarantee b e Has a value of 1, a e 、c e 、d e According to b e Scaling the changed proportion in an equal proportion; when b e When 0, guarantee c e Has a value of 1, a e 、b e 、d e According to c e Scaling the changed proportion in an equal proportion;
3.5 Traversing all other triangular patches, each traversal being noted asSpecifically, triangular patches are extracted respectively>Calculating triangular patches +.>Three-dimensional equation of plane and extracting three-dimensional equation parameter a p 、b p 、c p 、d p ；
Traversing the triangular patches one by oneEach time a traversal is noted +.>When->Skipping; judging whether there is triangular face piece ++>Adjacent other patches;
extraction of triangular patches using a method under the VtkCell classThree vertices (+)>,/>) By vertex->For example, the three-dimensional coordinates of the vertex are recorded as +.>；
Calculate corresponding triangular patchesThree-dimensional equation parameter a of (2) p 、b p 、c p 、d p The formula is as follows:
；
for a pair of、/>、/>Performing linear normalization;when->When the value is not 0, ensure +.>The value of (2) is 1, (-)>、/>、/>According to->Scaling the changed proportion in an equal proportion; when->When 0, guarantee->The value of (2) is 1, (-)>、/>、/>According to->Scaling the changed proportion in an equal proportion;
the fault-tolerant value E reflects the precision degree of the cutting model through artificial setting, and when the difference of the plane equation coefficients is smaller than the fault-tolerant value E, the plane matching is determined, otherwise, the plane matching is not performed;
in the plane matching step, when triangular patches are to be comparedParameters of three-dimensional equation of planeCount->、/>、/>、/>And standard triangular face piece>Parameters of the three-dimensional equation of the plane>、/>、/>If the difference value of the plane is smaller than the fault tolerance value E, the plane matching is considered to be successful;
i.e.Or +.>Or +.>Or +.>If the planes are not matched, continuing to traverse other planes, otherwise, considering the parameters as matched;
3.6 Triangular dough sheetThree-dimensional equation parameters of the plane>、/>、/>With other triangular patches->Three-dimensional equation parameters of the plane>、/>、/>Match and generate new units->；
Judging whether the two units have an intersecting or overlapping part after the plane matching is successful;
triangular dough sheetThree vertices (+)>,/>) The maximum in the X-axis direction, marked +.>；
Triangular dough sheetThree vertices (+)>,/>) Maximum and minimum in the Y-axis direction, marked as +.>、/>；
Triangular dough sheetThree vertices (+)>,/>) Maximum and minimum in the Z-axis direction, marked as +.>、/>；
Opposite triangular dough pieceTriangular dough piece->The maximum y value, minimum y value, maximum z value and minimum z value of the vertices are compared, the following may occur:
case 1: triangular dough sheetThe maximum y value of (2) is smaller than the triangular patch +.>Is the minimum y value or triangular patch +.>Is smaller than the triangular patch +.>Is considered to be the triangular patch ++>And triangular face piece->Spatially, the two do not actually intersect, and the other triangular patches continue to be traversed, namely +.></>Or-></>；
Case 2: triangular dough sheetIs greater than the triangular patch +.>Maximum y value or triangular patch ++>Is greater than the triangle patch +.>Is considered to be a triangular patch +.>And triangular face piece->Spatially, the two do not actually intersect, and go on to traverse other units, i.e. +.>Or->；
Case 3: triangular dough sheetThe maximum y value of (2) is smaller than the triangular patch +.>Is the maximum y value of (2) and triangular patch +.>Is greater than the triangular patch +.>Is considered to be a triangular patch +.>And triangular face piece->Spatially inclusion, triangular patches are eliminated +.>And continue to traverse other triangular patches, i.e.></>And-><；
When the three conditions are not satisfied, the triangular dough sheet is considered to be the sameMeets the unit merging requirement;
triangular surfaceSheetAnd triangular face piece->The minimum and maximum y values in the vertices are recorded as +.>、/>；
Triangular dough sheetAnd triangular face piece->The minimum and maximum z values in the vertices are recorded as +.>、/>；
Combining triangular patchesAnd triangular face piece->For a new unit->New unit->Inheriting the information of the maximum value of the original triangular patches +.>、/>、/>、/>；
Removing the original triangular dough pieceAnd triangular face piece->；
In new unitsTraversing triangular patches one by one based on the reference>Each traversal is marked +.>Judging whether other triangular patches adjacent to the triangular patches exist or not until no other triangular patches are identified as intersecting relation;
when no other triangular patches are identified as intersecting, the current new cell can be consideredIs->、/>、The parameters include the original triangular patches +.>Maximum unit of (2);
3.7 Searching for a base point S with respect to a new cellIs a hand-in point of:
merging into a new unitAfter that, a new unit should be extracted +.>Is analyzed with respect to its spatial position with respect to the base point S, new unit +.>Cutting a point closer to the base point S, and setting the cut-in point as +.>The cut-out point is a far point compared with the base point S, and the cut-out point is +.>；
3.8 Generating new unitsThe cutting machine of (2) can recognize language;
3.9 Eliminating triangular dough sheetAnd triangular face piece->Updating the base point;
removing triangular dough sheetAnd triangular face piece->To eliminate the interference of the triangular patches which are closest to the base point in the subsequent repeated searching;
the new base point S is set as the cut-out point, i.e；
Using the new initial point S as a starting point, using the removed PolyData data as a vtkCelllocator data set to reestablish a locator, and obtaining the triangular patch nearest to the base point S again through a function FindCloseSTPoint under the vtkCelllocator library；
Repeatedly executing the steps 3.2) to 3.9) for sequencing the cutting sequence of each triangular patch until all triangular patches are removed;
step four: a generation stage, wherein the production cutter can recognize language;
this stage is for the new unit in step three 3.8)Analyzing;
4.1 Acquiring a new cellNormal vector of->=(/>,/>,/>) Entry point->And cut-out point->The new unit, the cutting unit, the three-dimensional coordinates x, y, z values of the access point are recorded as +.>、/>、/>Three-dimensional coordinates x, y, z values of the cut-out point are recorded as +.>、/>、/>；
4.2 Respectively calculating unitIs->Z-value corresponding to the left Z-axis drive 7 +.>And the Z value on the right Z-axis drive 7 +.>Cutting out Point->Z-value corresponding to the left Z-axis drive 7 +.>And the Z value on the right Z-axis drive 7 +.>；
Calculation unitIs->The Z value corresponding to the left Z-axis drive 7 is marked +.>；
；
Calculation unitIs->The Z value corresponding to the right Z-axis drive 7 is marked +.>；
；
Calculation unitIs->The Z value corresponding to the left Z-axis drive 7 is marked +.>；
；
Calculation unitIs->The Z value corresponding to the right Z-axis drive 7 is marked +.>；
；
4.3 Rate conversion)
Because of the physical particularities of the foam product, the long residence time or slow movement of the heating wire at a certain location may result in undesirable melting of the surrounding foam pattern; when the heating wire moves in the foam at an excessively high speed, the cutting of the next unit is started because the elastic extension of the turbine spring causes the heating wire to not reach the expected position, so that the movement rate of the actual contact position of the heating wire and the foam needs to be controlled to be constant; and calculates the cutting speed of the heating wire in real time according to the actual cutting position of the foam；
Setting the cutting reference rate as R
The rate conversion part is refined into the following steps
(1) Foam model positioning:
the foam model positioning takes the right side of the foam model as a positioning point, and takes the maximum value in the X-axis direction in the cutting unit as a record，/>And->The ratio is considered as the relative position of the foam model in the X-axis direction;
(2) Calculating the actual length of the cutting unit in the Z-axis direction:
actual length of cutting unit in Z-axis direction=|/>|；
(3) Calculating the moving distance between the left vertical sliding block of the cutting machine and the right vertical sliding block of the cutting machine、And take the maximum value +.>；
；
And->Is the maximum value of (2);
(4) Calculating the cutting rate of the heating wire:
cutting rate of heating wire；
4.4 G code is generated;
according to、/>、/>、/>、/>、/>、/>And G codes suitable for the foam cutting machine are generated and sent to a lower computer through serial communication.
Claims (3)
1. The cutting path analysis algorithm of the double Z-axis full-automatic foam cutting machine is characterized in that:
the structure of the double Z-axis full-automatic foam cutting machine is as follows: y-axis driving devices (6) are respectively arranged on the left side and the right side of the rectangular bottom frame (1), the Y-axis driving devices (6) on each side are connected with a Z-axis driving device (7) in a sliding mode, and the tops of the Z-axis driving devices (7) on the left side and the right side are connected with a horizontal connecting beam (3) together; each Z-axis driving device (7) is connected with a vertical sliding block (2) in a sliding way, one vertical sliding block (2) is connected with a turbine spring (5), the movable end of the turbine spring (5) is connected with one end of an electric heating wire (4), and the other end of the electric heating wire (4) is fixed on the other vertical sliding block (2);
the cutting path analysis algorithm of the double Z-axis full-automatic foam cutting machine comprises the following steps:
step one: model importing stage: initializing and loading the three-dimensional model file;
1.1 Extracting a space point sequence and a plane normal vector sequence from the three-dimensional model file;
1.2 Generating triangular patches from the sequence of spatial points and the sequence of planar normal vectors;
1.3 Performing visual rendering on the triangular patches;
step two: and (3) a rejection stage: rejecting certain triangular patches which cannot be cut:
2.1 Extracting three vertexes of each triangular patch;
2.2 Calculating a planar normal vector from the three vertices;
2.3 Calculating the Z value of an intersection point between the plane where the triangular patch is located and a Z-axis driving device (7) on the left side of the cutting machine, calculating the Z value of an intersection point between the plane where the triangular patch is located and a Z-axis driving device (7) on the right side of the cutting machine, and marking the triangular patch which cannot be cut as a triangular patch to be removed;
2.4 2.3) eliminating the marked triangular patches and re-rendering;
step three: planning: cutting and planning the rest triangular patches after the second step is removed, and particularly sequencing the cutting sequence of each triangular patch;
3.1 Setting the origin as a base point S;
3.2 Searching for the triangular patch nearest to the base point；
3.3 Extracting triangular dough sheetIs included in the three vertices of (a);
3.4 Calculating triangular patches from three verticesThree-dimensional equation of the plane and extracting equation parameter +.>、/>、/>；
3.5 Traversing all other triangular patches, each traversal being noted asSpecifically, triangular patches are extracted respectively>Calculating triangular patches +.>Three-dimensional equation of the plane and extracting three-dimensional equation parameter +.>、/>、/>；
3.6 Triangular dough sheetThree-dimensional equation parameters of the plane>、/>、/>With other triangular patches->Three-dimensional equation parameters of the plane>、/>、/>Match and generate new units->；
3.7 Searching for a base point S with respect to a new cellIs a hand-in point of:
3.8 Generating new unitsThe cutting machine of (2) can recognize language;
3.9 Eliminating triangular dough sheetAnd triangular face piece->Updating the base point;
removing triangular dough sheetAnd triangular face piece->To eliminate the interference of the triangular patches which are closest to the base point in the subsequent repeated searching;
repeatedly executing the steps 3.2) to 3.9) for sequencing the cutting sequence of each triangular patch until all triangular patches are removed;
step four: a generation stage, namely generating a recognizable language of the cutter;
this stage is for the new unit in step three 3.8)Analyzing;
4.1 Acquiring a new cellNormal vector of->=(/>,/>,/>) Entry point->And cut-out point->The new unit is the cutting unit;
4.2 Respectively calculating unitIs->Z-value corresponding to the left Z-axis drive (7)>Is associated with the Z value on the right-hand Z-axis drive (7)>Cutting out Point->Z-value corresponding to the left Z-axis drive (7)>Is associated with the Z value on the right-hand Z-axis drive (7)>；
4.3 Rate conversion)
Controlling the movement rate of the actual contact position of the heating wire and the foam to be constant, and calculating the cutting rate of the heating wire in real time according to the actual cutting position of the foam；
4.4 G code is generated;
according to、/>、/>、/>、/>、/>、/>And G codes suitable for the foam cutting machine are generated and sent to a lower computer through serial communication.
2. The cutting path analysis algorithm of the double-Z-axis fully automatic foam cutting machine according to claim 1, wherein: the turbine spring (5) is externally wound with a plurality of rings of steel wire ropes, the tail ends of the steel wire ropes are connected with the electric heating wires (4), when the turbine spring (5) stretches, the steel wire ropes are sent out, and when the turbine spring (5) contracts, the steel wire ropes are rewound into the turbine spring (5).
3. The cutting path analysis algorithm of the double-Z-axis fully automatic foam cutting machine according to claim 1, wherein: the vertical sliding block (2) connected with the turbine spring (5) is provided with a through hole, and a steel wire rope on the turbine spring (5) penetrates through the through hole on the vertical sliding block (2) to be connected with the heating wire (4).
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