CN109702290A - The divided edge of steel plate cutting method of view-based access control model identification - Google Patents
The divided edge of steel plate cutting method of view-based access control model identification Download PDFInfo
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Abstract
The invention discloses a kind of divided edge of steel plate cutting methods of view-based access control model identification, are related to Computerized Numerical Control processing technology field.The present invention includes work delivery platform, First look device, First look bracket, cutting torch Motor execution device, Numerical control cutting machine controller, image processor, cutting torch bracket and the second sighting device of conveying workpieces, the present invention realizes the online recognition and edge extracting of more parts, the planning of application planning algorithm progress machining path, part edge is obtained in real time in conjunction with online Visual Tracking, and numerical control processing is carried out using the method for error compensation, it realizes the purpose of autonomous bevel cut, improves the machining accuracy of the numerical control processing based on framing.
Description
Technical field
The present invention relates to fields of numeric control technique, more specifically to a kind of divided edge of steel plate cutting side of view-based access control model identification
Method.
Background technique
The component of metal structure is usually formed by plurality of steel plates welding, and each block of steel plate is after cutting stock, according to structure
Groove need to be made in the requirement of calculating, some of part peripheries, in order to improve component load-bearing ability after welding.Synthesis is produced into
This and efficiency, the processing of steel plate periphery groove are most universal in a manner of artificial gas flame cuttiug.
After cutting technique is universal, part of the steel plate, theoretically should be able to be simultaneously after according to Numerical control cutting blanking is required
It realizes the excision forming of groove, but the interference due to periphery clout to cutting torch motion profile, will cause cutting torch flame core temperature by shadow
It rings and cannot achieve good cutting.Therefore, actually divided edge molding production is all needed individually to extract part and is carried out again
Beveling and cutting.When the part extracted carries out beveling and cutting, if need to be found again by parts profile using Numerical control cutting mode
The mode of cutting track, realization is relatively cumbersome, and the change of cutting torch placement location is not available original cut yet when due to cutting again
Expect program, or needs to be corrected.
Currently, Visual identification technology using more mature, be mainly used in product defects detection, product type identification,
Line tracking etc., it is also fewer at present using the related application of vision technique in Numerical control cutting field.State Intellectual Property Office in
Disclose a Publication No. CN106536128A on March 22nd, 2017, it is entitled " for being based on framing work pieces process
The patent of invention of method, processing machine and the computer program product of process ", the invention have following steps: a) by means of being used for
Sense the live image of the workpiece to be processed of image sensering device sensing of two dimensional image；B) in the live image of the workpiece
Pass through the showing with given forward conversion slave three-dimensional machine coordinate system to two-dimentional live image coordinate system of workpiece process
At least one workpiece process to be implemented；C) it relocates to be implemented manually in the live image of the workpiece
The workpiece process；D) by the workpiece process of repositioning from two-dimentional live image coordinate system to three-dimensional
The predetermined reverse conversion of coordinate system of machine implements the workpiece process on the workpiece.
The machining accuracy of the above-mentioned method in the prior art based on framing workpiece process is lacking, for
The processing of the higher workpiece of machining accuracy, the technology are not able to satisfy the processing request to workpiece.In particular for divided edge of steel plate
Processing, the change of cutting torch placement location is not available original material cutting program yet when due to cutting again, or needs to be corrected.
Summary of the invention
In order to overcome above-mentioned defect existing in the prior art and deficiency, this application provides a kind of view-based access control model identification with
The cutting method of online Visual Tracking control cutting workpiece by numerical control cutting machine groove, present invention are designed to provide
It is a kind of to combine mature visual identity with tracking technique with numerical control cutting machine, realize online recognition and the side of more parts
Edge extracts, and application planning algorithm carries out the planning of machining path, obtains part edge in real time in conjunction with online Visual Tracking, and
Numerical control processing is carried out using the method for error compensation, the purpose of autonomous bevel cut is realized, improves the numerical control based on framing
The machining accuracy of processing.
In order to solve above-mentioned problems of the prior art, the application is achieved through the following technical solutions:
The divided edge of steel plate cutting method of view-based access control model identification, it is characterised in that: work delivery platform including conveying workpieces, first
Sighting device, First look bracket, cutting torch Motor execution device, Numerical control cutting machine controller, image processor, cutting torch bracket and
Second sighting device, the First look device are erected above work delivery platform by First look bracket, First look
The workpiece image information of device collecting work delivery platform conveying, the cutting torch Motor execution device are erected at by cutting torch bracket
The top of work delivery platform, and it is located at First look device rear, cutting torch Motor execution device and Numerical control cutting machine controller
It is connected, the workpiece conveyed on work delivery platform is cut under the control of Numerical control cutting machine controller；Second view
Feel that the actuating station of cutting torch Motor execution device is arranged in device, the actuating station of the cutting torch Motor execution device is equipped with cutting torch；
The setting of described image processor is on work delivery platform, and the First look device and the second sighting device are and image procossing
Device establishes communication connection；The image information of its collected workpiece is transmitted to image by First look device and the second sighting device
Processor is handled, and described image processor and Numerical control cutting machine controller establish data connection；
It works below delivery platform conveying workpieces to First look device, the acquisition of First look device is delivered in its pickup area
Workpiece image, and acquired image data are sent to image processor, image processor utilizes workpiece profile detection
Position, the profile information of workpiece are extracted with fitting algorithm, and the workpiece information extracted is transmitted to Numerical control cutting machine controller,
After the Numerical control cutting machine controller gets the workpiece information of image processor transmission, carried out according to the workpiece information got
Global machining path planning, obtains optimal or suboptimum machining path；
After the Numerical control cutting machine controller obtains machining path, the machining path control cutting torch bracket drive obtained according to it is cut
The back-and-forth motion of torch Motor execution device edge work delivery platform conveying direction, and cutting torch Motor execution device is controlled along cutting torch branch
Frame direction moves reciprocatingly；Meanwhile second sighting device capture the marginal information of current processing part in real time, pass through image procossing
Numerical control cutting machine controller is sent to after device discrete processes, the control cutting torch Motor execution device drive of Numerical control cutting machine controller is cut
Torch makes rotating motion, and realizes in workpiece process, the real-time tracking of the edge of work, until processing current workpiece.
The First look device includes two Image Acquisition cameras, and described two Image Acquisition cameras are respectively set
At the both ends of First look bracket, two Image Acquisition cameras are acquired workpiece image from two different angles.
The First look device includes an Image Acquisition camera, and the setting of described image acquisition camera is in the first view
Feel bracket middle position, the camera lens of Image Acquisition camera downward, the workpiece image information on collecting work delivery platform.
Second sighting device includes two Image Acquisition cameras, and described two Image Acquisition cameras are respectively set
In the two sides of cutting torch, the angle different from two carries out real time image collection to the workpiece in processing.
The cutting torch Motor execution device is multi-joint mechanical arm, and cutting torch is installed in the actuating station of multi-joint mechanical arm；The
Two sighting devices are installed in the actuating station of multi-joint mechanical arm together with cutting torch.
The cutting torch bracket includes defeated along working for installing the frame body of erection cutting torch Motor execution device and driving frame body
The driving mechanism for sending platform conveying direction to be moved forward and backward, the driving mechanism is mounted on work delivery platform, the frame body with
Driving mechanism is connected, and in the back-and-forth motion of the drive lower edge of driving mechanism work delivery platform conveying direction.
The driving device includes servo motor, guide post and lead screw, and guide post level is installed on work delivery platform,
Lead screw is connected with servo motor by shaft coupling, and the lower end of frame body is set in guide post, and is connect with threads of lead screw；Servo electricity
Machine drives lead screw rotation, so that frame body be driven to be moved forward and backward in guide post；The servo controller of the servo motor and numerical control
The controller of cutting machine is connected.
Compared with prior art, technical effect beneficial brought by the application is shown:
1, the technical solution of the application is compared with the technical solution for the patent document quoted in background technique:
(1) basic principle is different, and aforementioned is to carry out work pieces process using image measurement and coordinate transform, and the present invention is using figure
Workpiece distributing position and elementary contour parameter are determined with edge detection as identifying, then use Vision Tracking real-time detection
The edge of work realizes real-time online processing；
(2) method used is different, the former is the live image that workpiece to be processed is obtained using single vision acquisition device, then adopts
Processing planning is carried out with technologies such as coordinate transforms, and the present invention is then that acquisition device is felt using double vision, a vision collecting device
For capture workpiece distribution and edge of work feature, another vision collecting device for current workpieces processing online vision with
Track；
3) implementation method is different, the former is to carry out capture workpieces processing information using camera is fixed, and online in the present invention
Vision tracking is using dynamically track, and camera is kept in motion, and in contrast, machining accuracy of the invention is more preferable.Therefore, with
The prior art is compared, the divided edge of steel plate cutting method of the application be it is first using visual identity and online vision tracking in one
Divided edge of steel plate cutting method, compared to the prior art in visual identity Work piece processing method for, the steel plate slope of the application
The machining accuracy of mouth cutting method is higher.
2, the application compared with prior art the advantages of be: the edge of workpieces processing can be tracked online, without preset plus
Engineering sequence, processing program by being generated in real time after edge data acquisition, to improve the production of entire numerical control cutting machine
It is flexible.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of divided edge of steel plate system of processing of the present invention；
Appended drawing reference: 1, cutting torch bracket, 2, cutting torch Motor execution device, 3, cutting torch, the 4, second sighting device, 5, First look branch
Frame, 6, First look device, 7, workpiece, 8, work delivery platform, 9, image processor, 10, Numerical control cutting machine controller.
Specific embodiment
With reference to the accompanying drawings of the specification, technical solution of the present invention is made and is illustrated in further detail.
Embodiment 1
As a preferred embodiment of the present invention, referring to Figure of description 1, present embodiment discloses:
The divided edge of steel plate cutting method of view-based access control model identification, work delivery platform 8, First look device including conveying workpieces 7
6, First look bracket 5, cutting torch Motor execution device 2, Numerical control cutting machine controller 10, image processor 9,1 and of cutting torch bracket
Second sighting device 4, the First look device 6 are erected above work delivery platform 8 by First look bracket 5, and first
7 image information of workpiece of 6 collecting work delivery platform 8 of sighting device conveying, the cutting torch Motor execution device 2 pass through cutting torch branch
Frame 1 is erected at the top of work delivery platform 8, and is located at 6 rear of First look device, cutting torch Motor execution device 2 and numerical control
Machine controller 10 is cut to be connected, under the control of Numerical control cutting machine controller 10 to the workpiece 7 that conveys on work delivery platform 8 into
Row cutting；The actuating station of cutting torch Motor execution device 2, the cutting torch Motor execution device 2 is arranged in second sighting device 4
Actuating station cutting torch 3 is installed；The setting of described image processor 9 is on work delivery platform 8,6 He of First look device
Second sighting device 4 is established with image processor 9 and is communicated to connect；First look device 6 and the second sighting device 4 are acquired
To the image information of workpiece 7 be transmitted to image processor 9 and handled, described image processor 9 and numerical control cutting machine control
Device 10 establishes data connection；
8 conveying workpieces 7 of delivery platform work to 6 lower section of First look device, the acquisition of First look device 6 is delivered to its acquisition zone
The image of workpiece 7 in domain, and acquired image data are sent to image processor 9, image processor 9 utilizes workpiece 7
Contour detecting and fitting algorithm extract the position of workpiece 7, profile information, and 7 information of workpiece extracted is transmitted to numerical control cutting
Cutting mill controller 10, after the Numerical control cutting machine controller 10 gets 7 information of workpiece of the transmission of image processor 9, according to obtaining
7 information of workpiece got carries out global machining path planning, obtains optimal or suboptimum machining path；
After the Numerical control cutting machine controller 10 obtains machining path, 1 band of cutting torch bracket is controlled according to the machining path that it is obtained
Cutting torch Motor execution device 2 is moved along the back-and-forth motion of work 8 conveying direction of delivery platform, and controls cutting torch Motor execution device 2
It moves reciprocatingly along 1 direction of cutting torch bracket；Meanwhile the marginal information of the current processing part of the second sighting device 4 capture in real time, lead to
It is sent to Numerical control cutting machine controller 10 after crossing 9 discrete processes of image processor, Numerical control cutting machine controller 10 controls cutting torch fortune
Dynamic executive device 2 drives cutting torch 3 to make rotating motion, and realizes in 7 process of workpiece, the real-time tracking at 7 edge of workpiece, until plus
The complete current workpiece 7 of work.
Embodiment 2
As another preferred embodiment of the present invention, referring to Figure of description 1, present embodiment discloses:
The divided edge of steel plate cutting method of view-based access control model identification, including sighting device, bracket, image processor 9, numerical control cutting machine control
Device 10 processed.The sighting device includes device for visual identification (i.e. First look device 6) and online vision tracking device (i.e. the
Two sighting devices 4).The bracket includes numerical-control cutting machine cutting-torch bracket 1 and device for visual identification bracket (i.e. First look branch
Frame 5), the numerical-control cutting machine cutting-torch bracket 1 can move reciprocatingly along workbench.At image in image processor 9
Adjustment method mainly includes 7 contour detecting of workpiece and fitting algorithm and Image Edge-Detection and track algorithm.
The divided edge of steel plate cutting method of view-based access control model identification, the described method comprises the following steps:
Step 1: device for visual identification acquires the image of entire workbench, and the image data of acquisition is sent to image processor
9, image processor 9 extracts the information such as position, the profile of each workpiece 7 using 7 contour detecting of workpiece and fitting algorithm, then will
7 information of workpiece is transferred to intelligent planning algorithm；After intelligent planning algorithm obtains each 7 information of workpiece, global machining path is carried out
Planning, to obtain optimal or suboptimum machining path；In the present embodiment, the path planning is in Numerical control cutting machine controller
It is realized in 10, the intelligent planning algorithm can use existing path planning algorithm；
Step 3: numerical control cutting machine controls the moving forward and backward along workbench of numerical-control cutting machine cutting-torch bracket 1 after obtaining machining path
And numerical-control cutting machine cutting-torch Motor execution device 2 moves reciprocatingly along 1 direction of numerical-control cutting machine cutting-torch bracket, by regarding online
Feel that tracking device captures the marginal information of current processing part in real time, by being sent to Numerical control cutting machine controller after discrete processes
10 control numerical-control cutting machine cutting-torch Motor execution devices 2 make rotating motion, and realize the real-time tracking of part edge；
Step 4: after processing current part, next workpiece 7 is processed according to the motion path of step 2 planning, until all works
Part 7 is all processed；Invention compared with prior art the advantages of be: the edge of workpieces processing 7 can be tracked online, without preset plus
Engineering sequence, processing program is generated in real time after having edge data acquisition, to improve the production of entire numerical control cutting machine
It is flexible.
Embodiment 3
As another preferred embodiment of the present invention, referring to Figure of description 1, present embodiment discloses:
The divided edge of steel plate cutting method of view-based access control model identification, it is characterised in that: work delivery platform 8 including conveying workpieces 7, the
One sighting device 6, cutting torch Motor execution device 2, Numerical control cutting machine controller 10, image processor 9, is cut First look bracket 5
Torch bracket 1 and the second sighting device 4, the First look device 6 are erected at work delivery platform 8 by First look bracket 5
Top, 7 image information of workpiece of 6 collecting work delivery platform 8 of First look device conveying, the cutting torch Motor execution device 2
It is erected at the top of work delivery platform 8 by cutting torch bracket 1, and is located at 6 rear of First look device, cutting torch Motor execution dress
2 are set to be connected with Numerical control cutting machine controller 10, under the control of Numerical control cutting machine controller 10 to work delivery platform 8 on convey
Workpiece 7 cut；The actuating station of cutting torch Motor execution device 2, the cutting torch movement is arranged in second sighting device 4
The actuating station of executive device 2 is equipped with cutting torch 3；The setting of described image processor 9 is on work delivery platform 8, first view
Feel that device 6 and the second sighting device 4 are established with image processor 9 to communicate to connect；First look device 6 and the second sighting device
The image information of its collected workpiece 7 is transmitted to image processor 9 by 4 to be handled, described image processor 9 and numerical control cutting
Cutting mill controller 10 establishes data connection；
8 conveying workpieces 7 of delivery platform work to 6 lower section of First look device, the acquisition of First look device 6 is delivered to its acquisition zone
The image of workpiece 7 in domain, and acquired image data are sent to image processor 9, image processor 9 utilizes workpiece 7
Contour detecting and fitting algorithm extract the position of workpiece 7, profile information, and 7 information of workpiece extracted is transmitted to numerical control cutting
Cutting mill controller 10, after the Numerical control cutting machine controller 10 gets 7 information of workpiece of the transmission of image processor 9, according to obtaining
7 information of workpiece got carries out global machining path planning, obtains optimal or suboptimum machining path；
After the Numerical control cutting machine controller 10 obtains machining path, 1 band of cutting torch bracket is controlled according to the machining path that it is obtained
Cutting torch Motor execution device 2 is moved along the back-and-forth motion of work 8 conveying direction of delivery platform, and controls cutting torch Motor execution device 2
It moves reciprocatingly along 1 direction of cutting torch bracket；Meanwhile the marginal information of the current processing part of the second sighting device 4 capture in real time, lead to
It is sent to Numerical control cutting machine controller 10 after crossing 9 discrete processes of image processor, Numerical control cutting machine controller 10 controls cutting torch fortune
Dynamic executive device 2 drives cutting torch 3 to make rotating motion, and realizes in 7 process of workpiece, the real-time tracking at 7 edge of workpiece, until plus
The complete current workpiece 7 of work.
In the present embodiment, the image processing algorithm used in image processor 9 can use existing algorithm, such as logical
It crosses First look device 6 and acquires 7 image pair of workpiece, extract 7 image of workpiece for measurement, extract 7 image pair of workpiece after removing background
Edge contour key feature points are simultaneously matched, and the edge contour of workpiece 7 has characteristic information abundant, the operator of edge detection
Have very much, such as Canny operator, Sobel operator, Prewitt operator, Roberts operator, or is extracted using polygonous approximation
7 profile key feature points of workpiece, or using the profile key feature points matching etc. based on limit restraint；In the present embodiment, number
Control cuts machine controller 10 and carries out global machining path planning according to 7 information of workpiece got, obtains optimal or suboptimum add
Work path；Existing software realization can be used, the contour feature point that image processor 9 extracts is read by controller, is utilized
Controller system portable data processing routine (such as SoftPLC system writes data processor), solves cutting torch Motor execution
Device 2 reaches physical location along calibration position and needs Z axis rotation angle, Y-axis rotation angle, X-axis rotation angle in basis coordinates system, X
Offset, Y offset, Z offset, is then passed in the motor program of cutting torch Motor execution device 2, completes the rule to machining path
It draws.
The First look device 6 includes two Image Acquisition cameras, and described two Image Acquisition cameras are set respectively
It sets at the both ends of First look bracket 5, two Image Acquisition cameras adopt 7 image of workpiece from two different angles
Collection.In the present embodiment, the First look device 6 can use an Image Acquisition camera, described image acquisition camera shooting
Head setting in 5 middle position of First look bracket, the camera lens of Image Acquisition camera downward, on collecting work delivery platform 8
7 image information of workpiece.
Second sighting device 4 includes two Image Acquisition cameras, and described two Image Acquisition cameras are set respectively
It sets in the two sides of cutting torch, the angle different from two carries out real time image collection to the workpiece 7 in processing.Second sighting device 4
An Image Acquisition camera can also be used.
The cutting torch Motor execution device 2 is multi-joint mechanical arm, and cutting torch is installed in the actuating station of multi-joint mechanical arm；The
Two sighting devices 4 are installed in the actuating station of multi-joint mechanical arm together with cutting torch.The cutting torch bracket 1 includes setting up for installing
The driving mechanism that the frame body and driving frame body of cutting torch Motor execution device 2 are moved forward and backward along work 8 conveying direction of delivery platform, institute
It states driving mechanism to be mounted on work delivery platform 8, the frame body is connected with driving mechanism, and in the drive lower edge of driving mechanism
The back-and-forth motion of work 8 conveying direction of delivery platform.The driving device includes servo motor, guide post and lead screw, guide post
Level is installed on work delivery platform 8, and lead screw is connected with servo motor by shaft coupling, and the lower end of frame body is set in guide post
On, and connect with threads of lead screw；Servo motor drives lead screw rotation, so that frame body be driven to be moved forward and backward in guide post；It is described
The servo controller of servo motor is connected with the controller of numerical control cutting machine.
Claims (7)
1. the divided edge of steel plate cutting method of view-based access control model identification, it is characterised in that: the work delivery platform including conveying workpieces (7)
(8), First look device (6), First look bracket (5), cutting torch Motor execution device (2), Numerical control cutting machine controller (10),
Image processor (9), cutting torch bracket (1) and the second sighting device (4), the First look device (6) pass through First look branch
Frame (5) is erected above work delivery platform (8), the workpiece of First look device (6) collecting work delivery platform (8) conveying
(7) image information, the cutting torch Motor execution device (2) are erected at the upper of work delivery platform (8) by cutting torch bracket (1)
Side, and it is located at First look device (6) rear, cutting torch Motor execution device (2) is connected with Numerical control cutting machine controller (10),
The workpiece (7) conveyed in work delivery platform (8) is cut under the control of Numerical control cutting machine controller (10)；Described second
The actuating station in cutting torch Motor execution device (2), the actuating station of the cutting torch Motor execution device (2) is arranged in sighting device (4)
Cutting torch (3) are installed；Described image processor (9) setting work delivery platform (8) on, the First look device (6) and
Second sighting device (4) is established with image processor (9) and is communicated to connect；First look device (6) and the second sighting device (4)
The image information of its collected workpiece (7) is transmitted to image processor (9) to handle, described image processor (9) with
Numerical control cutting machine controller (10) establishes data connection；
It works below delivery platform (8) conveying workpieces (7) to First look device (6), First look device (6) acquisition is delivered to
The image of workpiece (7) in its pickup area, and acquired image data are sent to image processor (9), image procossing
Device (9) extracts the position of workpiece (7), profile information, and the workpiece that will be extracted using workpiece (7) contour detecting and fitting algorithm
(7) information is transmitted to Numerical control cutting machine controller (10), and the Numerical control cutting machine controller (10) gets image processor (9)
After workpiece (7) information of transmission, global machining path planning is carried out according to workpiece (7) information got, is obtained optimal or secondary
Excellent machining path；
After the Numerical control cutting machine controller (10) obtains machining path, cutting torch bracket is controlled according to the machining path that it is obtained
(1) it drives cutting torch Motor execution device (2) along the back-and-forth motion of work delivery platform (8) conveying direction, and controls cutting torch movement
Executive device (2) moves reciprocatingly along cutting torch bracket (1) direction；Meanwhile the current processing zero of the second sighting device (4) capture in real time
The marginal information of part, by being sent to Numerical control cutting machine controller (10), numerical control cutting machine after image processor (9) discrete processes
Controller (10) control cutting torch Motor execution device (2) drives cutting torch (3) to make rotating motion, and realizes in workpiece (7) process,
The real-time tracking at workpiece (7) edge, until processing current workpiece (7).
2. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: the First look
Device (6) includes two Image Acquisition cameras, and described two Image Acquisition cameras are separately positioned on First look bracket (5)
Both ends, two Image Acquisition cameras are acquired workpiece (7) image from two different angles.
3. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: the First look
Device (6) includes an Image Acquisition camera, and described image acquisition camera is arranged in First look bracket (5) interposition
Set, the camera lens of Image Acquisition camera downward, workpiece (7) image information on collecting work delivery platform (8).
4. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: second vision
Device (4) includes two Image Acquisition cameras, and described two Image Acquisition cameras are separately positioned on the two sides of cutting torch (3),
The angle different from two carries out real time image collection to the workpiece (7) in processing.
5. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: the cutting torch movement
Executive device (2) is multi-joint mechanical arm, and cutting torch (3) is installed in the actuating station of multi-joint mechanical arm；Second sighting device (4) with
Cutting torch (3) is installed in the actuating station of multi-joint mechanical arm together.
6. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: the cutting torch bracket
It (1) include for installing the frame body for setting up cutting torch Motor execution device (2) and driving frame body along work delivery platform (8) conveying side
The driving mechanism moved forwards, backwards, the driving mechanism are mounted on work delivery platform (8), the frame body and driving mechanism phase
Even, and in the back-and-forth motion of the drive lower edge of driving mechanism work delivery platform (8) conveying direction.
7. the divided edge of steel plate cutting method of view-based access control model identification as described in claim 1, it is characterised in that: the driving device
Including servo motor, guide post and lead screw, guide post level is installed on work delivery platform (8), and lead screw and servo motor are logical
It crosses shaft coupling to be connected, the lower end of frame body is set in guide post, and is connect with threads of lead screw；Servo motor drives lead screw rotation,
To drive frame body to be moved forward and backward in guide post；The controller phase of the servo controller of the servo motor and numerical control cutting machine
Even.
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| CN201810438465 | 2018-05-09 |
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Cited By (8)
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| CN111539582A (en) * | 2020-05-11 | 2020-08-14 | 湖北汽车工业学院 | Steel plate cutting planning device and method based on image processing |
| CN111571276A (en) * | 2020-05-08 | 2020-08-25 | 东莞市固达机械制造有限公司 | Numerical control machine tool capable of identifying workpiece and automatically inputting technological parameters and machining method thereof |
| CN112077526A (en) * | 2020-09-01 | 2020-12-15 | 南京钢铁股份有限公司 | Method for fully automatically cleaning corner defects of plate blank |
| CN112276317A (en) * | 2020-10-21 | 2021-01-29 | 湖南视比特机器人有限公司 | Automatic positioning and edge finding method and device for steel plate cutting |
| CN113145977A (en) * | 2021-03-16 | 2021-07-23 | 深兰自动驾驶研究院(山东)有限公司 | Numerical control cutting equipment |
| CN113305849A (en) * | 2021-06-13 | 2021-08-27 | 芜湖行健智能机器人有限公司 | Intelligent flat groove cutting system and method based on composite vision |
| CN114289783A (en) * | 2021-12-31 | 2022-04-08 | 福建纳川管业科技有限责任公司 | High-precision pipe fitting cutting equipment |
| CN117285241A (en) * | 2023-11-24 | 2023-12-26 | 苏州优备精密智能装备股份有限公司 | Alignment mechanism and cutting equipment |
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| CN112276317A (en) * | 2020-10-21 | 2021-01-29 | 湖南视比特机器人有限公司 | Automatic positioning and edge finding method and device for steel plate cutting |
| CN113145977A (en) * | 2021-03-16 | 2021-07-23 | 深兰自动驾驶研究院(山东)有限公司 | Numerical control cutting equipment |
| CN113305849A (en) * | 2021-06-13 | 2021-08-27 | 芜湖行健智能机器人有限公司 | Intelligent flat groove cutting system and method based on composite vision |
| CN114289783A (en) * | 2021-12-31 | 2022-04-08 | 福建纳川管业科技有限责任公司 | High-precision pipe fitting cutting equipment |
| CN117285241A (en) * | 2023-11-24 | 2023-12-26 | 苏州优备精密智能装备股份有限公司 | Alignment mechanism and cutting equipment |
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