阅读说明：本技术 运用于雕刻加工立体石材的机器人加工数控系统和方法 (robot machining numerical control system and method applied to engraving and machining of three-dimensional stone ) 是由 尹方辰 余刘齐 崔长彩 宋宁宁 于 2019-09-24 设计创作，主要内容包括：本发明提供了运用于雕刻加工立体石材的机器人加工数控系统及其加工枢孔方法,利用对刀仪和刀架完成加工前和加工过程中的对刀和换刀,同时实现对对刀和换刀过程中速度全程可控,可极大的提高加工的效率,减少人在恶劣加工环境下的暴露时间；对主轴转速、进给速度、提刀速度、进刀速度和退刀速度等参数的调节可减少在CAM前置处理软件和CAM前置处理软件参数设置不合理带来的影响,实现了对加工过程中状态的可控,提高了应对加工过程中突发情况的能力。(the invention provides a robot machining numerical control system for engraving and machining three-dimensional stone and a pivot hole machining method thereof, wherein tool setting and tool changing before and during machining are completed by using a tool setting gauge and a tool rest, and the speed during the tool setting and tool changing is controllable in the whole process, so that the machining efficiency can be greatly improved, and the exposure time of a person in a severe machining environment is reduced; the adjustment of the parameters such as the main shaft rotating speed, the feeding speed, the tool lifting speed, the tool feeding speed, the tool retracting speed and the like can reduce the influence caused by unreasonable parameter setting of the CAM preprocessing software and the CAM preprocessing software, realize the controllability of the state in the machining process and improve the capability of coping with the emergency in the machining process.)

1. Apply to the robot machining numerical control system of the three-dimensional stone material of engraving process, its characterized in that includes: the system comprises a front processing module, a rear processing module, an industrial robot control device, a tool setting gauge and a demonstrator;

The front processing module is a PowerMill and is used for generating a cutter track, deriving a cutter position source file according to the cutter track and sending the cutter position source file to the rear processing module; the post-processing module is a RobotMaster, adjusts the posture of the robot according to the cutter position source file, generates a track code suitable for robot processing, and transmits the track code to HQUCNC software of a robot controller;

the HQUCNC software is installed on the demonstrator, and the demonstrator is connected with the industrial robot control device through a cable;

A cutter cover is arranged on the cutter frame, cutters with different numbers are placed on the lower cutter position of the cutter cover, and the cutter setting instrument is connected with the industrial robot control device through a cable; the tool setting instrument is connected with the industrial robot control device through a cable, and is communicated with HQUCNC software installed on the demonstrator through the industrial robot control device;

The tool setting gauge is communicated with an HQUCNC installed on the demonstrator through an industrial robot control device.

2. the robot machining numerical control method for engraving and machining the three-dimensional stone is characterized by comprising the following steps of:

a. Generating a three-dimensional model file through three-dimensional software;

b. importing the three-dimensional model file into a pre-processing module to generate a first attitude file;

c. transmitting the first attitude file to a post-processing module to generate a second attitude file;

d. sending the second posture file to a demonstrator through a storage medium, and compiling line by line through HQUCNC software to obtain a third posture file;

e. the demonstrator sends the third posture file to a control cabinet, and the control cabinet controls the industrial robot to execute a relevant instruction;

f. the HQUCNC software is provided with a tool setting module, a tool changing module, a machining parameter online modifying module and an information display comprehensive module;

g. In the tool setting module, tool setting operation is completed by matching with a tool setting gauge before and during processing; the module can display and adjust the tool setting speed in real time;

h. in the tool changing module, automatic tool changing is completed according to different processing requirements before and during processing; the module can display the information of the current cutter number, the opening state of the cutter frame cover and the like, and can automatically complete cutter changing operation after the number of the cutter to be changed is selected;

i. the processing parameter online modification module can display the current spindle rotating speed, feeding speed, tool lifting speed, tool feeding speed, tool retracting speed and processing tool length information in real time;

j. the information display integrated module reality information includes but is not limited to current processing program segmentation and current program compiling point.

Technical Field

the invention relates to the field of stone numerical control machining, in particular to an HQUCNC numerical control system for machining three-dimensional stone by robot carving.

background

In recent years, stone carving products are more and more widely applied in daily life of people. The carved stone products have large quantity and various categories, belong to one of the large category of special-shaped stone products, but the technical requirements and the difficulty of the processing are far higher than those of other types of stone products, and the carving processing of the carved stone products becomes an important means for improving the added value of products and expanding the domestic and foreign trade in the stone industry. At present, most stone carving enterprises adopt full-manual processing and semi-automatic processing, so that the problems of high labor intensity, low processing efficiency, long processing time, unstable quality and the like exist, and the health of processing personnel is particularly seriously harmed. Aiming at the problems, the full-automatic carving of the robot is realized, the carving efficiency and quality can be greatly improved, and the development of the whole stone carving industry is promoted.

disclosure of Invention

the invention aims to solve the main technical problem of providing a robot processing numerical control system for engraving and processing three-dimensional stone, and solves the problems that the robot cannot automatically change tools in engraving and processing and parameters in the processing process cannot be modified according to actual processing conditions.

in order to solve the above technical problems, the present invention provides a robot processing numerical control system for engraving three-dimensional stone, comprising: the system comprises a front processing module, a rear processing module, an industrial robot control device, a tool setting gauge and a demonstrator;

the front processing module is a PowerMill and is used for generating a cutter track, deriving a cutter position source file according to the cutter track and sending the cutter position source file to the rear processing module; the post-processing module is a RobotMaster, adjusts the posture of the robot according to the cutter position source file, generates a track code suitable for robot processing, and transmits the track code to HQUCNC software of a robot controller;

The HQUCNC software is installed on the demonstrator, and the demonstrator is connected with the industrial robot control device through a cable;

a cutter cover is arranged on the cutter frame, cutters with different numbers are placed on the lower cutter position of the cutter cover, and the cutter setting instrument is connected with the industrial robot control device through a cable; the tool setting instrument is connected with the industrial robot control device through a cable, and is communicated with HQUCNC software installed on the demonstrator through the industrial robot control device;

The tool setting gauge is communicated with an HQUCNC installed on the demonstrator through an industrial robot control device.

the invention also provides a robot processing numerical control method for engraving and processing the three-dimensional stone, which comprises the following steps:

a. Generating a three-dimensional model file through three-dimensional software;

b. Importing the three-dimensional model file into a pre-processing module to generate a first attitude file;

c. Transmitting the first attitude file to a post-processing module to generate a second attitude file;

d. Sending the second posture file to a demonstrator through a storage medium, and compiling line by line through HQUCNC software to obtain a third posture file;

e. The demonstrator sends the third posture file to a control cabinet, and the control cabinet controls the industrial robot to execute a relevant instruction;

f. The HQUCNC software is provided with a tool setting module, a tool changing module, a machining parameter online modifying module and an information display comprehensive module;

g. In the tool setting module, tool setting operation is completed by matching with a tool setting gauge before and during processing; the module can display and adjust the tool setting speed in real time;

h. in the tool changing module, automatic tool changing is completed according to different processing requirements before and during processing; the module can display the information of the current cutter number, the opening state of the cutter frame cover and the like, and can automatically complete cutter changing operation after the number of the cutter to be changed is selected;

i. the processing parameter online modification module displays the current spindle rotating speed, feeding speed, tool lifting speed, tool feeding speed, tool retracting speed and processing tool length information in real time;

j. The information display integrated module reality information includes but is not limited to current processing program segmentation and current program compiling point.

compared with the prior art, the technical scheme of the invention has the following beneficial effects:

the invention provides a robot processing numerical control system for engraving and processing three-dimensional stone, which can fully automatically realize the processes of tool setting and tool changing before and during processing, improve the efficiency and reduce the time of exposing people to the processing environment; unreasonable parameters set in the post-processing module can be adjusted according to the actual processing situation, so that the processing quality of the workpiece is improved; the breakpoint continuous modification function enables the machining to be resumed from the breakpoint after the machining process is interrupted and the machining is resumed.

drawings

FIG. 1 is a block schematic of the present invention.

Detailed Description

The following describes in further detail embodiments of the present invention with reference to the accompanying drawings. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Referring to fig. 1, a robot processing numerical control system for engraving three-dimensional stone includes: the device comprises a front processing module, a rear processing module, an industrial robot control device, a tool setting gauge, a tool rest and a demonstrator.

the front processing module is a PowerMill and is used for generating a cutter track, deriving a cutter position source file according to the cutter track and sending the cutter position source file to the rear processing module; the post-processing module is a RobotMaster, adjusts the posture of the robot according to the cutter position source file, generates a track code suitable for robot processing, and transmits the track code to HQUCNC software of a robot controller;

the HQUCNC software is installed on the demonstrator, and the demonstrator is connected with the industrial robot control device through a cable;

a cutter cover is arranged on the cutter frame, cutters with different numbers are placed on the lower cutter position of the cutter cover, and the cutter setting instrument is connected with the industrial robot control device through a cable; the tool setting instrument is connected with the industrial robot control device through a cable, and is communicated with HQUCNC software installed on the demonstrator through the industrial robot control device;

The tool setting gauge is communicated with an HQUCNC installed on the demonstrator through an industrial robot control device.

When in use, the specific operation process is as follows:

a. designing a model, namely generating a proper three-dimensional model through three-dimensional software according to the requirement of processing; or scanning an existing real object by a three-dimensional scanner to obtain a three-dimensional model as a three-dimensional model of the workpiece to be processed;

b. preparing raw materials, selecting stone with proper size and no obvious flaw according to actual processing requirements, and if the stone is regular in shape and known in size, directly generating a three-dimensional model of the stone in three-dimensional software to define the stone as a blank; and if the shape is irregular, scanning by using a three-dimensional scanner to obtain a three-dimensional model of the raw material blank.

c. pre-processing, namely, leading the three-dimensional models of the workpieces to be processed and the three-dimensional models of the raw material blanks obtained in the steps a and b into a pre-processing module PowerMill, and selecting proper processing strategies and processing parameters to generate a first attitude file according to actual processing requirements;

d. c, post-processing, namely importing the first posture file obtained in the step c into a RobotMaster module, adjusting the posture of the robot according to the first posture file by the RobotMaster module, generating a track code suitable for robot processing, and generating a second posture file;

e. Sending the second posture file to a demonstrator through a storage medium, compiling line by line through HQUCNC software, and finally executing a related instruction by the robot;

f. the HQUCNC software is provided with a tool setting module, a tool changing module, a machining parameter online modification module and an information display comprehensive module;

g. in the tool setting module, tool setting operation is completed by matching with a tool setting gauge before and during processing; the module can display and adjust the tool setting speed in real time;

h. In the tool changing module, automatic tool changing is completed according to different processing requirements before and during processing; the module can display the information of the current cutter number, the opening state of the cutter frame cover and the like, and can automatically complete cutter changing operation after the number of the cutter to be changed is selected;

i. the machining parameter online modification module can display parameter information such as the current spindle rotating speed, feeding speed, tool lifting speed, tool feeding speed, tool retracting speed and the like and length information of a machining tool in real time, and can adjust according to actual machining requirements;

j. the information display integrated module comprises information of current processing program segmentation, current program compiling point and the like.

the above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby. Equivalent changes and modifications made according to the patent scope and the specification of the present invention should be covered by the present invention.