Edge skin taking method, medium, device and squaring equipment

The invention relates to the technical field of linear cutting, in particular to an edge skin taking method, a medium, a device and squaring equipment. The invention aims to solve the problems of long time consumption of obstacle avoidance action and influence on processing efficiency of the existing multi-shaft edge skin taking mechanism. In order to achieve the purpose, the offcut taking method comprises the steps that an offcut taking mechanism is controlled to act, so that an offcut clamping jaw moves to a preset position of a cutting chamber from an initial position; controlling an edge piece taking mechanism to move along a preset interpolation path so as to enable an edge piece clamping jaw to move to an edge piece taking position from a preset position; and the edge piece clamping jaw is controlled to take the edge piece. According to the flaw piece taking method, multi-axis linkage of the flaw piece taking mechanism can be controlled through the interpolation path, it is guaranteed that the flaw piec