CN109702290B - Steel plate groove cutting method based on visual identification - Google Patents

Steel plate groove cutting method based on visual identification Download PDF

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Publication number
CN109702290B
CN109702290B CN201910185113.6A CN201910185113A CN109702290B CN 109702290 B CN109702290 B CN 109702290B CN 201910185113 A CN201910185113 A CN 201910185113A CN 109702290 B CN109702290 B CN 109702290B
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vision
workpiece
cutting
cutting torch
numerical control
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CN109702290A (en
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李启江
吴思够
江健炜
胡晓兵
夏理
何运
邓平波
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SINOHYDRO JIAJIANG HYDRAULIC MACHINERY CO LTD
Sinohydro Bureau 7 Co Ltd
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SINOHYDRO JIAJIANG HYDRAULIC MACHINERY CO LTD
Sinohydro Bureau 7 Co Ltd
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Abstract

The invention discloses a steel plate groove cutting method based on visual identification, and relates to the technical field of numerical control machining. The invention comprises a work conveying platform for conveying workpieces, a first vision device, a first vision bracket, a cutting torch motion executing device, a numerical control cutting machine controller, an image processor, a cutting torch bracket and a second vision device.

Description

Steel plate groove cutting method based on visual identification
Technical Field
The invention relates to the technical field of numerical control, in particular to a steel plate groove cutting method based on visual identification.
Background
The components of the metal structure are generally formed by welding a plurality of steel plates, after each steel plate is cut and blanked, grooves need to be formed on the peripheries of some parts according to the structural calculation requirement, so that the bearing capacity of the components is improved after welding. The production cost and efficiency are integrated, and the processing of the peripheral groove of the steel plate is most common in a manual flame cutting mode.
After the numerical control cutting technology is popularized, after steel plate parts are cut and blanked according to requirements in a numerical control mode, the cutting and forming of a groove can be achieved simultaneously theoretically, but due to the fact that peripheral excess materials interfere with the movement track of a cutting torch, the temperature of a flame core of the cutting torch is affected, and good cutting cannot be achieved. Therefore, in all the actual groove forming manufacturing, the part needs to be extracted separately for groove cutting again. When the extracted part is subjected to groove cutting, if a numerical control cutting mode is used, the cutting track needs to be searched again according to the outline of the part, the implementation mode is relatively troublesome, and the original material cutting program cannot be used due to the change of the placing position of the cutting torch during re-cutting, or the cutting torch needs to be corrected.
At present, the visual identification technology is mature in application, mainly applied to product defect detection, product model identification, online tracking and the like, and related applications adopting the visual technology are few in the field of numerical control cutting. The national intellectual property office, on 22/3/2017, discloses an invention patent with publication number CN106536128A entitled "method, machine and computer program product for image-based positioning of a workpiece machining process", having the steps of: a) sensing a live image of the workpiece to be machined by means of an image sensing device for sensing a two-dimensional image; b) displaying in the live image of the workpiece at least one workpiece machining process to be carried out by a forward transformation of the workpiece machining process from a three-dimensional machine coordinate system to a two-dimensional live image coordinate system with a predetermined reference value; c) manually repositioning the workpiece processing to be performed in the live image of the workpiece; d) the workpiece machining process on the workpiece is carried out by a predetermined inverse transformation of the relocated workpiece machining process from a two-dimensional live image coordinate system to a three-dimensional machine coordinate system.
The method for positioning the processing process of the workpiece based on the image in the prior art has defects in processing precision, and the technology cannot meet the processing requirements of the workpiece for processing the workpiece with higher processing precision. Especially for the processing of the steel plate groove, the original material cutting program can not be used due to the change of the placing position of the cutting torch during the cutting, or the original material cutting program needs to be corrected.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the application provides a cutting method for controlling a numerical control cutting machine to cut a workpiece groove based on a visual identification and online visual tracking technology, and aims to provide a method for controlling the numerical control cutting machine to cut the workpiece groove based on the visual identification and online visual tracking technology, which combines the mature visual identification and tracking technology with the numerical control cutting machine, realizes online identification and edge extraction of multiple parts, plans a processing path by applying a planning algorithm, acquires the part edge in real time by combining the online visual tracking technology, performs numerical control processing by adopting an error compensation method, realizes the purpose of automatically cutting the groove, and improves the processing precision of the numerical control processing based on image positioning.
In order to solve the problems existing in the prior art, the method is realized by the following technical scheme:
the steel plate groove cutting method based on visual identification is characterized by comprising the following steps: the cutting torch movement executing device is erected above the work conveying platform through the cutting torch bracket and positioned behind the first vision device, is connected with the numerical control cutting machine controller, and cuts the workpiece conveyed on the work conveying platform under the control of the numerical control cutting machine controller; the second vision device is arranged at the execution end of the cutting torch movement execution device, and the execution end of the cutting torch movement execution device is provided with a cutting torch; the image processor is arranged on the working conveying platform, and the first visual device and the second visual device are in communication connection with the image processor; the first vision device and the second vision device transmit the acquired image information of the workpiece to an image processor for processing, and the image processor is in data connection with a controller of the numerical control cutting machine;
the working conveying platform conveys a workpiece to the lower part of the first vision device, the first vision device collects images of the workpiece conveyed to the collection area of the first vision device and sends the collected image data to the image processor, the image processor extracts position and contour information of the workpiece by using a workpiece contour detection and fitting algorithm and transmits the extracted workpiece information to the numerical control cutting machine controller, and the numerical control cutting machine controller performs global machining path planning according to the acquired workpiece information after acquiring the workpiece information transmitted by the image processor to obtain an optimal or suboptimal machining path;
after the numerical control cutting machine controller acquires the processing path, the cutting torch bracket is controlled according to the acquired processing path to drive the cutting torch movement executing device to move back and forth along the conveying direction of the work conveying platform, and the cutting torch movement executing device is controlled to do reciprocating motion along the direction of the cutting torch bracket; meanwhile, the second vision device captures the edge information of the currently processed part in real time, the edge information is discretely processed by the image processor and then is sent to the numerical control cutting machine controller, and the numerical control cutting machine controller controls the cutting torch movement execution device to drive the cutting torch to rotate, so that the real-time tracking of the edge of the workpiece in the workpiece processing process is realized until the current workpiece is processed.
The first vision device comprises two image acquisition cameras which are respectively arranged at two ends of the first vision support, and the two image acquisition cameras acquire workpiece images from two different angles.
The first vision device comprises an image acquisition camera, the image acquisition camera is arranged in the middle of the first vision support, and a lens of the image acquisition camera faces downwards to acquire workpiece image information on the work conveying platform.
The second vision device comprises two image acquisition cameras which are respectively arranged at two sides of the cutting torch and used for acquiring real-time images of the workpiece to be processed from two different angles.
The cutting torch motion executing device is a multi-joint mechanical arm, and the cutting torch is fixedly arranged at an executing end of the multi-joint mechanical arm; the second vision device and the cutting torch are fixedly arranged at the executing end of the multi-joint mechanical arm together.
The cutting torch support comprises a support body for mounting and erecting a cutting torch movement executing device and a driving mechanism for driving the support body to move back and forth along the conveying direction of the working conveying platform, the driving mechanism is mounted on the working conveying platform, and the support body is connected with the driving mechanism and driven by the driving mechanism to move back and forth along the conveying direction of the working conveying platform.
The driving device comprises a servo motor, a guide post and a lead screw, the guide post is horizontally and fixedly arranged on the working conveying platform, the lead screw is connected with the servo motor through a coupler, and the lower end of the frame body is sleeved on the guide post and is in threaded connection with the lead screw; the servo motor drives the screw rod to rotate, so that the frame body is driven to move back and forth on the guide post; and a servo controller of the servo motor is connected with a controller of the numerical control cutting machine.
Compared with the prior art, the beneficial technical effects brought by the application are shown in that:
1. compared with the technical scheme of the patent document cited in the background technology, the technical scheme of the application is as follows:
(1) the method adopts different basic principles, namely, image measurement and coordinate transformation are adopted for workpiece processing, but the method adopts image identification and edge detection to determine the distribution position and basic contour parameters of the workpiece, and then adopts a visual tracking algorithm to detect the edge of the workpiece in real time, thereby realizing real-time online processing;
(2) the method is different in that a single vision acquisition device is adopted to acquire a live image of a workpiece to be processed, and then technologies such as coordinate transformation and the like are adopted to perform processing planning, while the method adopts double vision acquisition devices, wherein one vision acquisition device is used for capturing workpiece distribution and workpiece edge characteristics, and the other vision acquisition device is used for online vision tracking of the currently processed workpiece;
3) the method is different in that the camera is used for capturing the information of the processed workpiece fixedly, the online visual tracking in the invention is dynamic tracking, and the camera is in a motion state. Therefore, compared with the prior art, the steel plate groove cutting method is the first steel plate groove cutting method integrating visual identification and online visual tracking, and compared with a workpiece machining method based on visual identification in the prior art, the steel plate groove cutting method is higher in machining precision.
2. Compared with the prior art, the application has the advantages that: the edge of the machined workpiece can be tracked on line, machining programs do not need to be preset, and the machining programs are generated in real time after edge data are collected, so that the production flexibility of the whole numerical control cutting machine is improved.
Drawings
FIG. 1 is a schematic structural view of a steel plate groove machining system according to the present invention;
reference numerals: 1. the cutting torch cutting machine comprises a cutting torch support, a cutting torch movement executing device, a cutting torch, a second vision device, a first vision support, a first vision device, a second vision device, a workpiece, a working conveying platform, an image processor, a digital control cutting machine controller and a workpiece, wherein the cutting torch movement executing device is 3, the cutting torch is 4, the second vision device is 5, the first vision support is 6, the first vision device is 7, the workpiece.
Detailed Description
The technical scheme of the invention is further elaborated in the following by combining the drawings in the specification.
Example 1
Referring to the attached fig. 1, this embodiment discloses:
the steel plate groove cutting method based on visual identification comprises a work conveying platform 8 for conveying a workpiece 7, a first visual device 6, a first visual support 5, a cutting torch movement executing device 2, a numerical control cutting machine controller 10, an image processor 9, a cutting torch support 1 and a second visual device 4, wherein the first visual device 6 is erected above the work conveying platform 8 through the first visual support 5, the first visual device 6 acquires image information of the workpiece 7 conveyed by the work conveying platform 8, the cutting torch movement executing device 2 is erected above the work conveying platform 8 through the cutting torch support 1 and is positioned behind the first visual device 6, the cutting torch movement executing device 2 is connected with the numerical control cutting machine controller 10, and the workpiece 7 conveyed on the work conveying platform 8 is cut under the control of the numerical control cutting machine controller 10; the second vision device 4 is arranged at the execution end of the cutting torch movement execution device 2, and the execution end of the cutting torch movement execution device 2 is provided with the cutting torch 3; the image processor 9 is arranged on the working conveying platform 8, and the first visual device 6 and the second visual device 4 are both in communication connection with the image processor 9; the first vision device 6 and the second vision device 4 transmit the acquired image information of the workpiece 7 to an image processor 9 for processing, and the image processor 9 is in data connection with a controller 10 of the numerical control cutting machine;
the working conveying platform 8 conveys the workpiece 7 to the lower part of the first vision device 6, the first vision device 6 collects images of the workpiece 7 conveyed to the collection area of the first vision device, collected image data are sent to the image processor 9, the image processor 9 extracts position and contour information of the workpiece 7 by utilizing a workpiece 7 contour detection and fitting algorithm and transmits the extracted workpiece 7 information to the numerical control cutting machine controller 10, and after the numerical control cutting machine controller 10 acquires the workpiece 7 information transmitted by the image processor 9, global machining path planning is carried out according to the acquired workpiece 7 information to obtain an optimal or suboptimal machining path;
after the numerical control cutting machine controller 10 acquires the processing path, the cutting torch bracket 1 is controlled to drive the cutting torch movement executing device 2 to move back and forth along the conveying direction of the working conveying platform 8 according to the acquired processing path, and the cutting torch movement executing device 2 is controlled to reciprocate along the direction of the cutting torch bracket 1; meanwhile, the second vision device 4 captures the edge information of the currently processed part in real time, the edge information is discretely processed through the image processor 9 and then is sent to the numerical control cutting machine controller 10, the numerical control cutting machine controller 10 controls the cutting torch motion execution device 2 to drive the cutting torch 3 to rotate, and the real-time tracking of the edge of the workpiece 7 in the processing process of the workpiece 7 is realized until the current workpiece 7 is processed.
Example 2
Referring to the attached fig. 1, this embodiment discloses:
the steel plate groove cutting method based on visual identification comprises a visual device, a support, an image processor 9 and a numerical control cutting machine controller 10. The vision device includes a vision recognition device (i.e., the first vision device 6) and an online vision tracking device (i.e., the second vision device 4). The bracket comprises a cutting torch bracket 1 of the numerical control cutting machine and a visual recognition device bracket (namely a first visual bracket 5), and the cutting torch bracket 1 of the numerical control cutting machine can do reciprocating motion along the workbench. The image processing algorithm in the image processor 9 mainly comprises a workpiece 7 contour detection and fitting algorithm and an image edge detection and tracking algorithm.
The steel plate groove cutting method based on visual identification comprises the following steps:
the method comprises the following steps: the visual recognition device collects images of the whole workbench, the collected image data are sent to the image processor 9, the image processor 9 extracts information such as positions and contours of the workpieces 7 by utilizing a workpiece 7 contour detection and fitting algorithm, and then the information of the workpieces 7 is transmitted to an intelligent planning algorithm; after the intelligent planning algorithm acquires the information of each workpiece 7, global machining path planning is carried out to obtain an optimal or suboptimal machining path; in this embodiment, the path planning is implemented in the controller 10 of the numerical control cutting machine, and the intelligent planning algorithm may adopt an existing path planning algorithm;
step three: after the numerical control cutting machine acquires a processing path, the cutting torch support 1 of the numerical control cutting machine is controlled to move back and forth along the workbench and the cutting torch movement executing device 2 of the numerical control cutting machine reciprocates along the direction of the cutting torch support 1 of the numerical control cutting machine, the edge information of the current processed part is captured in real time through the online vision tracking device, and the edge information is sent to the controller 10 of the numerical control cutting machine after discrete processing to control the cutting torch movement executing device 2 of the numerical control cutting machine to rotate, so that the real-time tracking of the edge of the part is;
step four: after the current part is machined, machining the next workpiece 7 according to the motion path planned in the step two until all workpieces 7 are machined; compared with the prior art, the invention has the advantages that: the edge of the machined workpiece 7 can be tracked on line, machining programs do not need to be preset, and the machining programs are generated in real time after edge data are collected, so that the production flexibility of the whole numerical control cutting machine is improved.
Example 3
Referring to the attached fig. 1, this embodiment discloses:
the steel plate groove cutting method based on visual identification is characterized by comprising the following steps: the cutting torch movement executing device comprises a work conveying platform 8 for conveying a workpiece 7, a first vision device 6, a first vision support 5, a cutting torch movement executing device 2, a numerical control cutting machine controller 10, an image processor 9, a cutting torch support 1 and a second vision device 4, wherein the first vision device 6 is erected above the work conveying platform 8 through the first vision support 5, the first vision device 6 acquires image information of the workpiece 7 conveyed by the work conveying platform 8, the cutting torch movement executing device 2 is erected above the work conveying platform 8 through the cutting torch support 1 and is positioned behind the first vision device 6, the cutting torch movement executing device 2 is connected with the numerical control cutting machine controller 10, and the workpiece 7 conveyed on the work conveying platform 8 is cut under the control of the numerical control cutting machine controller 10; the second vision device 4 is arranged at the execution end of the cutting torch movement execution device 2, and the execution end of the cutting torch movement execution device 2 is provided with the cutting torch 3; the image processor 9 is arranged on the working conveying platform 8, and the first visual device 6 and the second visual device 4 are both in communication connection with the image processor 9; the first vision device 6 and the second vision device 4 transmit the acquired image information of the workpiece 7 to an image processor 9 for processing, and the image processor 9 is in data connection with a controller 10 of the numerical control cutting machine;
the working conveying platform 8 conveys the workpiece 7 to the lower part of the first vision device 6, the first vision device 6 collects images of the workpiece 7 conveyed to the collection area of the first vision device, collected image data are sent to the image processor 9, the image processor 9 extracts position and contour information of the workpiece 7 by utilizing a workpiece 7 contour detection and fitting algorithm and transmits the extracted workpiece 7 information to the numerical control cutting machine controller 10, and after the numerical control cutting machine controller 10 acquires the workpiece 7 information transmitted by the image processor 9, global machining path planning is carried out according to the acquired workpiece 7 information to obtain an optimal or suboptimal machining path;
after the numerical control cutting machine controller 10 acquires the processing path, the cutting torch bracket 1 is controlled to drive the cutting torch movement executing device 2 to move back and forth along the conveying direction of the working conveying platform 8 according to the acquired processing path, and the cutting torch movement executing device 2 is controlled to reciprocate along the direction of the cutting torch bracket 1; meanwhile, the second vision device 4 captures the edge information of the currently processed part in real time, the edge information is discretely processed through the image processor 9 and then is sent to the numerical control cutting machine controller 10, the numerical control cutting machine controller 10 controls the cutting torch motion execution device 2 to drive the cutting torch 3 to rotate, and the real-time tracking of the edge of the workpiece 7 in the processing process of the workpiece 7 is realized until the current workpiece 7 is processed.
In this embodiment, the image processing algorithm used in the image processor 9 may all adopt an existing algorithm, for example, the first vision device 6 acquires an image pair of the workpiece 7, extracts an image of the workpiece 7 to be detected, extracts edge contour key feature points of the image pair of the workpiece 7 after removing a background, and performs matching, the edge contour of the workpiece 7 has rich feature information, and there are many edge detection operators, such as Canny operator, Sobel operator, Prewitt operator, Roberts operator, and the like, or extracts the workpiece 7 contour key feature points by using a polygon approximation method, or matches the contour key feature points based on limit constraint, and the like; in this embodiment, the controller 10 of the numerically controlled cutting machine performs global machining path planning according to the acquired information of the workpiece 7 to obtain an optimal or suboptimal machining path; the contour feature points extracted by the image processor 9 are read by the controller, and a portable data processing program (such as a data processing program written by a SoftPLC system) of the controller system is utilized to solve the Z-axis rotation angle, the Y-axis rotation angle, the X offset, the Y offset and the Z offset which are required by the cutting torch movement executing device 2 to reach the actual position along the calibration position in the base coordinate system, and then the Z offset, the Y offset and the Z offset are transmitted to the movement program of the cutting torch movement executing device 2, so that the planning of the processing path is completed.
The first vision device 6 comprises two image acquisition cameras which are respectively arranged at two ends of the first vision support 5, and the two image acquisition cameras acquire images of the workpiece 7 from two different angles. In this embodiment, the first vision device 6 may adopt an image capturing camera, the image capturing camera is disposed in the middle of the first vision bracket 5, and the lens of the image capturing camera faces downward to capture image information of the workpiece 7 on the working conveying platform 8.
The second vision device 4 comprises two image acquisition cameras which are respectively arranged at two sides of the cutting torch and are used for acquiring real-time images of the workpiece 7 to be processed from two different angles. The second vision device 4 may also employ an image capturing camera.
The cutting torch movement executing device 2 is a multi-joint mechanical arm, and the cutting torch is fixedly arranged at an executing end of the multi-joint mechanical arm; the second vision device 4 and the cutting torch are fixedly arranged at the executing end of the multi-joint mechanical arm together. The cutting torch support 1 comprises a support body for mounting and erecting the cutting torch movement executing device 2 and a driving mechanism for driving the support body to move back and forth along the conveying direction of the working conveying platform 8, the driving mechanism is mounted on the working conveying platform 8, and the support body is connected with the driving mechanism and driven by the driving mechanism to move back and forth along the conveying direction of the working conveying platform 8. The driving device comprises a servo motor, a guide post and a lead screw, the guide post is horizontally and fixedly arranged on the working conveying platform 8, the lead screw is connected with the servo motor through a coupler, and the lower end of the frame body is sleeved on the guide post and is in threaded connection with the lead screw; the servo motor drives the screw rod to rotate, so that the frame body is driven to move back and forth on the guide post; and a servo controller of the servo motor is connected with a controller of the numerical control cutting machine.

Claims (7)

1. The steel plate groove cutting method based on visual identification is characterized by comprising the following steps: comprises a work conveying platform (8) for conveying a workpiece (7), a first vision device (6), a first vision bracket (5), a cutting torch movement executing device (2), a numerical control cutting machine controller (10), an image processor (9), a cutting torch bracket (1) and a second vision device (4), the first vision device (6) is erected above the working conveying platform (8) through the first vision bracket (5), the first vision device (6) collects image information of the workpiece (7) conveyed by the working conveying platform (8), the cutting torch movement executing device (2) is erected above the working conveying platform (8) through a cutting torch bracket (1), and is positioned behind the first vision device (6), the cutting torch movement executing device (2) is connected with a numerical control cutting machine controller (10), cutting the workpiece (7) conveyed on the working conveying platform (8) under the control of a numerical control cutting machine controller (10); the second vision device (4) is arranged at the execution end of the cutting torch movement execution device (2), and the execution end of the cutting torch movement execution device (2) is provided with a cutting torch (3); the image processor (9) is arranged on the working conveying platform (8), and the first visual device (6) and the second visual device (4) are in communication connection with the image processor (9); the first vision device (6) and the second vision device (4) transmit the acquired image information of the workpiece (7) to an image processor (9) for processing, and the image processor (9) is in data connection with a controller (10) of the numerical control cutting machine;
the working conveying platform (8) conveys the workpiece (7) to the position below the first vision device (6), the first vision device (6) collects images of the workpiece (7) conveyed to the collection area of the first vision device, the collected image data are sent to the image processor (9), the image processor (9) extracts the position and contour information of the workpiece (7) by utilizing a workpiece (7) contour detection and fitting algorithm and transmits the extracted workpiece (7) information to the numerical control cutting machine controller (10), and after the numerical control cutting machine controller (10) acquires the workpiece (7) information transmitted by the image processor (9), the global machining path planning is carried out according to the acquired workpiece (7) information to acquire an optimal or suboptimal machining path;
after the numerical control cutting machine controller (10) acquires the processing path, the cutting torch bracket (1) is controlled to drive the cutting torch movement executing device (2) to move back and forth along the conveying direction of the working conveying platform (8) according to the acquired processing path, and the cutting torch movement executing device (2) is controlled to reciprocate along the cutting torch bracket (1); meanwhile, the second vision device (4) captures the edge information of the currently processed part in real time, the edge information is discretely processed through the image processor (9) and then is sent to the numerical control cutting machine controller (10), the numerical control cutting machine controller (10) controls the cutting torch movement executing device (2) to drive the cutting torch (3) to rotate, and the real-time tracking of the edge of the workpiece (7) is realized in the processing process of the workpiece (7) until the current workpiece (7) is processed.
2. The steel plate groove cutting method based on visual recognition according to claim 1, wherein: the first vision device (6) comprises two image acquisition cameras which are respectively arranged at two ends of the first vision support (5), and the two image acquisition cameras acquire images of the workpiece (7) from two different angles.
3. The steel plate groove cutting method based on visual recognition according to claim 1, wherein: the first vision device (6) comprises an image acquisition camera, the image acquisition camera is arranged in the middle of the first vision support (5), and the lens of the image acquisition camera faces downwards to acquire image information of a workpiece (7) on the working conveying platform (8).
4. The steel plate groove cutting method based on visual recognition according to claim 1, wherein: the second vision device (4) comprises two image acquisition cameras which are respectively arranged at two sides of the cutting torch (3) and are used for acquiring real-time images of the workpiece (7) to be processed from two different angles.
5. The steel plate groove cutting method based on visual recognition according to claim 1, wherein: the cutting torch motion executing device (2) is a multi-joint mechanical arm, and the cutting torch (3) is fixedly arranged at an executing end of the multi-joint mechanical arm; the second vision device (4) and the cutting torch (3) are fixedly arranged at the executing end of the multi-joint mechanical arm.
6. The steel plate groove cutting method based on visual recognition according to claim 1, wherein: the cutting torch support (1) comprises a support body used for installing and erecting the cutting torch movement executing device (2) and a driving mechanism used for driving the support body to move back and forth along the conveying direction of the working conveying platform (8), the driving mechanism is installed on the working conveying platform (8), and the support body is connected with the driving mechanism and driven by the driving mechanism to move back and forth along the conveying direction of the working conveying platform (8).
7. The steel plate groove cutting method based on visual recognition according to claim 6, wherein: the driving mechanism comprises a servo motor, a guide post and a lead screw, the guide post is horizontally and fixedly arranged on the working conveying platform (8), the lead screw is connected with the servo motor through a coupler, and the lower end of the frame body is sleeved on the guide post and is in threaded connection with the lead screw; the servo motor drives the screw rod to rotate, so that the frame body is driven to move back and forth on the guide post; and a servo controller of the servo motor is connected with a controller of the numerical control cutting machine.
CN201910185113.6A 2018-05-09 2019-03-12 Steel plate groove cutting method based on visual identification Active CN109702290B (en)

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