CN110815395A

CN110815395A - Identification and trimming device for two-dimensional irregular shape of soft material

Info

Publication number: CN110815395A
Application number: CN201911124488.8A
Authority: CN
Inventors: 周建来
Original assignee: Jiangsu Shankai Intelligent Technology Co Ltd
Current assignee: Jiangsu Ocean University
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2020-02-21

Abstract

The invention discloses a device for identifying and trimming two-dimensional irregular shapes of soft materials, which can flatten the trimmed materials on a conveyor belt of a machine, carry out two-dimensional visual identification on the outline and the surface condition of the profiles of the materials, automatically trim and cut the shapes of the materials by a water jet, and automatically return the trimmed materials to the vicinity of a feeding position; the machine is configured with self-developed special program control to replace human eyes and hands, obtain edge information (shapes, holes, surface scars and the like), calculate a cutting path, determine a trimming track from visual recognition, then perform trimming processing and then return to a feeding position, the whole process is automatically completed, in the period of time when the former material is processed, the visual recognition and the processing track calculation of the latter material are performed in an online parallel mode, and the efficiency is improved.

Description

Identification and trimming device for two-dimensional irregular shape of soft material

Technical Field

The invention belongs to the technical field of soft material outer edge finishing, and particularly relates to a device for recognizing and finishing a two-dimensional irregular shape of a soft material.

Background

The invention relates to a method for trimming the outer edge of a soft material with irregular appearance by using a water jet cutter, in particular to automatically identifying and trimming the appearance of leather of large animals such as cattle, sheep and the like, wherein the applicable processing object is a so-called soft material, and the soft material has no strict scientific definition, and is defined as follows: and at the position without bottom support, the sheet-like solid material can deform downwards due to the self gravity. Mainly refers to the types of materials with large area-thickness ratio, large flexibility and low hardness, such as cloth, leather, fiber, film and the like.

It is often necessary to trim the edges of these materials during production, which is complicated when their edges exhibit random variations. Typically, leather is used as a representative, and the appearance of the leather is generally required to be trimmed for many times in the manufacturing process from fur to finished leather, so that various defects at the outer edge of the leather are removed, and the leather meets the requirements of subsequent processing technology, use requirements and psychological expectations of people on the shape of animal leather. Due to the irregular shape of the leather, various defects (such as holes, scars, looseness, overlapping, etc.) may also be present at the outer edges, and the shape of each piece of leather is different from the other. Therefore, a specific edge case determination scheme is required for trimming. At present, leather manufacturers mainly adopt manual trimming, namely, the appearance trend is judged through human eyes, the defects of the edge of the leather are identified, and the leather is manually trimmed by scissors according to the experience of operators.

Edge trimming of a material, intended to remove undesired portions of the material at the edges, belongs to the cutting category, but differs from general cutting and separation. The cutting and cutting of general sheet materials aims at cutting and slicing, machines are adopted in various industries at present to gradually replace traditional manual operation to automatically arrange and cut soft materials, for example, in the field of cloth and leather processing, a computer-controlled soft material automatic cutting system is used, materials can be automatically cut by a computer-controlled cutting head according to a designed arrangement pattern, functions are increasingly strong, and the cutting and cutting machine is widely applied to industries such as clothes, automobile seats, interior trim parts and furniture. Such cutting machines are suitable for cutting large pieces of material into small cut pieces of various shapes. However, when the method is used for trimming irregular edges of materials, the edge trimming needs to be treated as a special condition of cutting layout, after visual scanning, graphs need to be edited manually, and cutting schemes need to be modified, so that the method is complex in process, low in efficiency, far lower than manual trimming, and has no practical significance in mass production.

In addition, most of the existing cutting machines use a laser as a cutting head, harmful substances or damage materials can be generated during cutting, particularly, the materials such as animal leather are cut, protein sintering is easily caused by adopting a laser type high-temperature mode, and the state of edge materials is damaged and harmful gas is generated.

The water jet cutter is a novel safe and environment-friendly cutting mode in recent years, and can cut any curve of any material by taking high-pressure water as the cutter. The material has no heat effect during cutting, does not generate high temperature (belonging to cold cutting), does not generate harmful substances, and is safe and environment-friendly. At present, the cutting tool is mainly used for cutting materials difficult to process or flammable and explosive occasions. The water jet cutter is used for cutting general hard solids such as ceramics, stone, glass, metal and the like, and the cutting speed is relatively slow. But when used for cutting soft materials, the cutting speed can be very high and can reach the magnitude order of hundreds of meters per minute theoretically.

In addition, in a common industrial cutting means, only water cutting belongs to cold cutting, the metal is cut by utilizing the kinetic energy of water jet, the cutting purpose is achieved, no chemical change exists in the cutting process, no influence is caused on the physicochemical property of a cutting material, no thermal deformation exists, a cutting seam is narrow, the precision is high, and the cutting surface is smooth and clean. For cutting applications where high temperatures need to be avoided or preferably not generated, water jet cutting of soft materials should be a more suitable way.

Due to the characteristics of the water jet cutter, various technical difficulties exist in specific use occasions, and the popularization and the utilization of the water jet cutter are restricted. For example, how to increase the cutting advancing speed to reach the order of magnitude of tens of meters per minute, the common water jet cutting machine structure is adopted, and the requirement cannot be met at present; such as water soaking of the material being cut, and the contradictory problems of drainage and support, etc. The invention solves the main technical problem when the water knife trims the edge of the soft material, and the water knife which is a cutting tool well realizes the irregular shape trimming of the common soft material.

Disclosure of Invention

The purpose of the invention is that: 1. the automatic trimming device can adapt to a high-pressure water jet technology, automatically trim soft materials with irregular two-dimensional edges, and particularly aim at ever-changing materials such as animal leather; 2. the advancing speed of the water jet cutter during cutting can reach the order of magnitude of tens of meters per minute, and the whole working process needs to show high efficiency; 3. proper support is formed at the bottom of the soft material in the cutting process to ensure smooth and continuous cutting, and water flow and water vapor generated by cutting can be timely cleaned out of a cutting area; 4. the cut material can smoothly pass through the visual recognition area and the finishing cutting area during the finishing cutting process.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the device for recognizing and trimming the two-dimensional irregular shape of the soft material comprises,

the feeding machine is used for receiving and flattening the soft material to be trimmed;

the vision identification system comprises an identification machine, a light sensing system and an industrial camera, scans and processes the moving soft material, calculates a trimming track, and instructs the following cutting machine through an industrial computer;

the cutting machine cuts the soft material in a water jet cutting mode, and can move transversely and longitudinally on a two-dimensional plane based on two groups of linear basic units;

the mesh belt driving mechanism is used for driving a conveying mesh belt, and the conveying mesh belt conveys soft materials to be trimmed to sequentially enter the visual recognition system area, the trimming area, the material returning area and the material feeding area;

the industrial computer is used for controlling and instructing the feeding machine, the visual recognition system, the cutting machine and the mesh belt driving mechanism to work in a coordinated manner;

the light sensing system is positioned in the identification machine, the dehydrator is positioned in the cutting machine, the conveying mesh belt is divided into two component areas, one part of the conveying mesh belt covers the outer surface of the feeding machine, the other part of the conveying mesh belt is provided with meshes and covers the upper surfaces of the identification machine, the cutting machine and the mesh belt driving mechanism, the meshes return from the interiors of the identification machine, the cutting machine and the mesh belt driving mechanism to form a closed conveying loop, and a water knife of the cutting machine and an industrial camera are positioned above the conveying mesh belt.

Preferably, the feeder comprises a nip roller and a sprocket chain group, the upper surface of the feeder is covered with a conveyor belt, and the movement of the conveyor belt is driven by the sprocket chain group arranged outside.

Preferably, the mesh belt driving mechanism comprises a chain, a mesh belt driving motor, a chain wheel and a mesh belt driven chain wheel, the mesh belt driving motor drives the chain wheel to rotate, the chain wheel drives at least one mesh belt driven chain wheel to drive through the chain, and the chain is mechanically connected with the conveying mesh belt on the side face.

Preferably, the mesh belt driving motor is installed on the frame through the motor installation plate, the left and right positions of the motor installation plate on the frame can be adjusted through adjusting bolts, a small synchronous belt pulley is installed at a shaft head of the mesh belt driving motor, two groups of bearing seats are installed on two sides of the frame, the carrier roller is installed on the bearing seats through shaft diameters of two ends, a driving chain wheel is installed at each of two ends of the carrier roller, a large synchronous belt pulley is further installed at one end of the carrier roller, the small synchronous belt pulley and the large synchronous belt pulley are driven through a belt, the mesh belt driving motor can drive the driving chain wheel and the carrier roller to rotate, a chain connected with the driving chain wheel advances, a conveying mesh belt connected with the chain advances, and.

Preferably, the light sensing system is internally provided with a cylindrical light source, the outside of the light sensing system is provided with a protective outer cover, and the light sensing system driving motor drives the light source outer cover to rotate through the light source transmission mechanism; the industrial camera is installed at a proper height above the camera support, and a shading anti-interference mechanism is further arranged on the camera support.

Preferably, the cutting machine comprises a frame structure, two groups of transverse linear motion units, two groups of longitudinal linear motion units and cutting components, wherein the transverse linear motion units are arranged on the upper surface of the longitudinal linear motion units, the two groups of longitudinal linear motion units are respectively arranged on the front side and the rear side of the rack, the cutting components are arranged on the transverse linear motion units, the cutting components adopt water cutter heads, air cylinder switches are arranged inside the water cutter heads, and an external high-pressure pump generates pressure of high-pressure water.

Preferably, the transverse driving speed reducing motor is installed at one end of the transverse linear moving module, forms a transverse linear moving unit with the transverse linear moving module and the transverse moving slide block, forms a longitudinal linear moving unit with the longitudinal linear moving module and the longitudinal moving slide block, the transverse linear moving unit is installed on the upper surface of the longitudinal moving slide block of the longitudinal linear moving module, the longitudinal driving speed reducing motor is installed in the middle of the frame structure, and drives the longitudinal moving slide block to move left and right along the longitudinal linear moving module through two transmission half shafts.

Preferably, the dehydrator comprises a water collecting tank, a water leakage grid is arranged at the top of the water collecting tank, a water outlet tank is arranged at the bottom of the water collecting tank, the fixed supporting legs are arranged on the lower surface of the supporting cross lining of the water collecting tank, the adjustable supporting legs are sleeved outside the fixed supporting legs, and rollers are arranged at the lower ends of the adjustable supporting legs and enable the dehydrator to move back and forth on the guide rail.

Preferably, the material returning area is arranged at the outer side of the mesh belt driving mechanism and is provided with a material returning roller and a material returning belt, the material returning roller and the material returning belt force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form the shape of a lower conveying mesh belt, the material returning belt is always pressed outside the conveying mesh belt in the area of the lower part of the machine, the material returning frame is provided with a tail end material returning roller, and the material returning belt can bypass the tail end material returning roller to circulate back.

Preferably, the carrier roller is composed of a supporting journal, a plug, a steel roller and a rubber layer.

Through the technical characteristics, the following beneficial effects can be obtained:

the device can flatten the material to be trimmed on a conveyor belt of a machine, perform two-dimensional visual identification on the profile and the surface condition of the material, automatically trim and cut the profile of the material by using a water jet, and automatically return the trimmed material to the vicinity of a feeding position. The machine is configured with a self-developed special program for controlling, replaces human eyes and hands, acquires edge information (shapes, holes, surface scars and the like), calculates a cutting path, determines a trimming track from visual recognition, then performs trimming processing, and then returns to a feeding position, and the whole process is automatically completed. In addition, during the time period when the previous material is processed, the visual identification and the processing track calculation of the next material are performed in an online parallel calculation mode, and the efficiency is improved. The water jet cutter technical characteristics are adopted to protect the trimmed material from being damaged by high temperature and avoid generating harmful gas; is particularly suitable for replacing manpower to finish natural materials such as animal leather, and has good processing quality and high efficiency.

The machine is a special device for trimming and making soft material with two-dimensional irregular shape, and has special purpose. The components are specially designed and configured, the technological process is specific, and the software of the control system is specially developed. The invention has unique and special composition and structure, and the technological process and the specific structure are obviously different from the water jet cutter used in the prior common cutting and different from the common automatic computer cutting machine.

Compared with the prior art: the invention is different from the cutting mode of a common computer cutting machine, and the machine introduces a high-pressure water cutting mode, and has the characteristics of low-temperature cutting and no harmful gas emission. The invention is different from the application range of the common computer cutting machine, the machine has unique and special composition and structural form, is specially used for trimming the two-dimensional irregular appearance of a soft material, and has trimming efficiency far higher than that of the common computer cutting machine for trimming the same kind of appearance.

The invention has the following overall beneficial effects: cutting soft materials, especially materials such as animal leather, by a water knife; purposeful cutting and trimming are carried out on the irregular two-dimensional edge of the soft material by using a water knife. No influence on the physical and chemical properties of the cut material, no thermal deformation, narrow cutting seam, high precision, smooth and clean cut surface, cleanness and no pollution. The device of the invention replaces manual work, realizes the automatic trimming of the irregular two-dimensional edge of the soft material, saves labor and reduces labor intensity. When the device works, the vision recognition system completes calculation work such as recognition, processing track calculation and the like on the next material in the period of time when the cutting machine finishes the previous material, so that the finishing productivity is improved by times.

Drawings

The present invention is described in further detail below with reference to the attached drawings.

FIG. 1 is a diagram of the relationship of the various parts of the machine of the present invention.

Fig. 2 is a detailed structural diagram of the present invention.

Fig. 3 is a schematic structural diagram of the cutting mechanism of the present invention.

FIG. 4 is a schematic view of the cutting support and water leakage grid of the present invention.

Fig. 5 is a schematic view of the main components of the water outlet mechanism of the present invention.

Fig. 6 is a schematic view showing the main components of the belt drive mechanism of the present invention.

Fig. 7 is a schematic view of the principle of the nip roll of the feeding mechanism of the present invention.

Fig. 8 is a schematic structural diagram of the mesh belt carrier roller of the invention.

Fig. 9 is a schematic view of the feeding transmission mechanism of the invention.

Wherein:

1. the automatic descaling device comprises a feeding machine, 2, a recognizer, 3, a light sensing system, 4, a cutting machine, 5, a dehydrator, 6, a mesh belt driving mechanism, 7, a water cutter head, 8, an industrial camera, 9, a conveying mesh belt, 10, an industrial computer, 11, a high-pressure pump, 12, a flattening roller, 13, a chain wheel chain set, 15, a material returning roller, 16, a material returning belt, 17, a material returning frame, 18, a tail end material returning roller, 19, a descaling motor and 20, wherein the light sensing system driving motor is arranged on the feeding machine.

61 mesh belt driving motor, 62 chain wheel, 63 mesh belt driven chain wheel, 64 motor mounting plate, 65 small synchronous belt wheel, 66 carrier roller, 67 driving chain wheel, 68 large synchronous belt wheel, 31 cylindrical light source, 32 outer cover, 33 light source transmission mechanism, 81 camera support, 82 shading anti-interference mechanism, 41 frame structure, 42 water cutter head, 43 transverse driving speed reducing motor, 44 transverse linear moving module, 45 transverse moving slide block, 46 longitudinal driving speed reducing motor, 47 longitudinal linear moving module, 48 longitudinal moving slide block, 51 guide rail, 52 water collecting tank, 53 water leakage grid, 54 water outlet tank, 55 roller, 56 adjustable supporting leg, 571 supporting transverse lining, 58 water pumping fan and 59 air outlet hole.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

as shown in fig. 1-9, the identification and trimming device for the two-dimensional irregular shape of soft material comprises,

the feeding machine 1 is used for receiving, spreading and flattening a soft material to be trimmed;

the vision identification system comprises an identification machine 2, a light sensing system 3 and an industrial camera 8, scans and processes the soft material in motion, calculates a trimming track, and instructs the following cutting machine through an industrial computer;

the cutting machine 4 cuts the soft material in a water jet cutting mode, and can move transversely and longitudinally on a two-dimensional plane based on two groups of linear basic units;

the mesh belt driving mechanism 6 is used for driving the conveying mesh belt 9, and the conveying mesh belt conveys soft materials to be repaired to sequentially enter the visual recognition system area, the trimming area, the material returning area and the material loading area;

the industrial computer 10 is used for controlling and instructing the feeding machine, the visual recognition system, the cutting machine and the mesh belt driving mechanism to work in coordination;

The feeding machine comprises a flattening roller 12 and a chain wheel and chain set 13, the upper surface of the feeding machine is covered with a conveying belt, and the movement of the conveying belt is driven by the chain wheel and chain set 13 arranged outside.

The mesh belt driving mechanism 6 comprises a chain, a mesh belt driving motor 61, a chain wheel 62 and a mesh belt driven chain wheel 63, the mesh belt driving motor drives the chain wheel 52 to rotate, the chain wheel drives at least one mesh belt driven chain wheel 63 to drive through the chain, and the chain is mechanically connected with the conveying mesh belt 9 on the side surface.

The mesh belt driving motor 6 is installed on the frame through a motor installation plate 64, the left and right positions of the motor installation plate on the frame can be adjusted through adjusting bolts, a small synchronous belt wheel 65 is installed on a shaft head of the mesh belt driving motor, two groups of bearing seats are installed on two sides of the frame, a carrier roller 66 is installed on the bearing seats through shaft diameters of two ends, a driving chain wheel 67 is installed at each of two ends of the carrier roller, a large synchronous belt wheel 68 is further installed at one end of the carrier roller, the small synchronous belt wheel and the large synchronous belt wheel are transmitted through a belt, the mesh belt driving motor can drive the driving chain wheel and the carrier roller to rotate, a chain connected with the driving chain wheel advances, a conveying mesh belt connected with the chain advances; the carrier roller comprises support axle journal, end cap, steel roller, rubber layer.

The light sensing system 3 is internally provided with a cylindrical light source 31, the outside of which is provided with a protective outer cover 32, and a light sensing system driving motor 34 drives the light source outer cover 32 to rotate through a light source transmission mechanism 33; the industrial camera 8 is installed at a proper height above the camera support 81, and a shading anti-interference mechanism 82 is further arranged on the camera support.

The cutting machine 4 comprises a frame structure 41, two groups of transverse linear motion units, a longitudinal linear motion unit and cutting components, wherein the transverse linear motion units are arranged on the upper surface of the longitudinal linear motion unit, the two groups of longitudinal linear motion units are respectively arranged on the front side and the rear side of the rack, the cutting components are arranged on the transverse linear motion unit, the cutting components adopt water cutter heads 42, air cylinder switches are arranged inside the water cutter heads, and an external high-pressure pump 11 generates pressure of high-pressure water.

The transverse driving speed reducing motor 43 is arranged at one end of the transverse linear moving module 44, forms a transverse linear moving unit together with the transverse linear moving module 44 and the transverse moving slide block 45, forms a longitudinal linear moving unit together with the longitudinal linear moving module 47 and the longitudinal moving slide block 48, the transverse linear moving unit is arranged on the upper surface of the longitudinal moving slide block of the longitudinal linear moving module, and the longitudinal driving speed reducing motor is arranged in the middle of the frame structure and drives the longitudinal moving slide block to move left and right along the longitudinal linear moving module through two transmission half shafts.

The dehydrator comprises a water collecting tank 52, a water leakage grating 53 is arranged at the top of the water collecting tank, a water outlet tank 54 is arranged at the bottom of the water collecting tank, a fixed supporting leg 57 is arranged on the lower surface of a supporting cross bush 571 of the water collecting tank, an adjustable supporting leg 56 is sleeved outside the fixed supporting leg, a roller is arranged at the lower end part of the adjustable supporting leg, and the roller 55 enables the dehydrator to move back and forth on the guide rail 51.

The material returning area is arranged at the outer side of the mesh belt driving mechanism and is provided with a material returning roller 15 and a material returning belt 16, the material returning roller and the material returning belt force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form the shape of a lower conveying mesh belt, the material returning belt is always pressed outside the conveying mesh belt in the area of the lower part of the machine, a tail end material returning roller 18 is arranged on a material returning frame 17, and the material returning belt can bypass the tail end material returning roller to circulate back.

The numerical control water jet cutter is special equipment for trimming and sizing a two-dimensional irregular shape of a soft material, can flatten the trimmed material on a conveyor belt of a machine, perform two-dimensional visual identification on the profile and the surface condition of the trimmed material, automatically trim and cut the shape of the material by using the water jet cutter, and automatically return the trimmed material to the vicinity of a feeding position. The machine is configured with a self-developed special program for controlling, replaces human eyes and hands, acquires edge information (shapes, holes, surface scars and the like), calculates a cutting path, determines a trimming track from visual recognition, then performs trimming processing, and then returns to a feeding position, and the whole process is automatically completed. In addition, during the time period when the previous material is processed, the visual identification and the processing track calculation of the next material are performed in an online parallel calculation mode, and the efficiency is improved. The machine protects the trimmed material from being damaged by high temperature and avoids generating harmful gas; the leather trimming machine is used for replacing manual work to trim leather, and is time-saving, labor-saving and high in efficiency.

The feeding machine 1 is used for receiving a material to be trimmed sent by a preorder conveying line or a manual operation, and is internally provided with a material flattening mechanism, so that the cut material is ensured to be spread and flattened, and preparation is made for subsequent visual identification and cutting processing. The recognition machine 2 is provided with an industrial camera 8 which is used for scanning the material to be trimmed to obtain images, judging the specific situation of the edge, and generating a processing scheme by control system software to form a trimming track. The light sensing system 3 is used for improving the reliability of scanning of the recognizer 2. The cutting machine 4 is loaded with a water cutter head 7, and the material is moved, trimmed and cut according to the motion track instruction sent by the computer. The dehydrator 5 is used for draining water and demisting in time, and ensures that the material is not soaked by the cutting water. The mesh belt driving mechanism 6 drives the conveying mesh belt 9 to advance and to do circular motion around the dotted line shown in fig. 1, the trimmed material is carried on the upper surface of the conveying mesh belt 9, the industrial computer 10 controls and instructs the feeding machine, the visual recognition system, the cutting machine and the mesh belt driving mechanism to work in coordination, and the high-pressure pump 11 is used for supplying high-pressure water to the water cutter head 7.

As shown in fig. 2, the nip roll 12 is subordinate to the feeder 1, and the nip roll 12 functions to flatten the soft material as it passes over its upper surface. The structure of the nip roll is shown in fig. 7. The upper surface of the feeder 1 is covered with a conveyor belt arranged as a partially independent belt, the movement of which is driven by two externally arranged chain and sprocket sets, the two chain and sprocket sets initially powering a belt driven sprocket 63 in front of the feeder, as shown in fig. 9. The inside of the feeding machine can be also provided with an independent transmission mechanism to drive the conveying belt to advance, and the conveying belt can also be connected with a conveying net belt 9 into a whole belt and driven by a net belt driving mechanism to advance.

As shown in fig. 2, the high-precision chain, the mesh belt drive motor 61, the sprocket 62, and the mesh belt driven sprocket 63 together constitute a mesh belt forward drive mechanism. Two high-precision chains are arranged on the upper surface of the frame, the high-precision chains have high precision requirements, and chain guide rails are arranged on the outer surfaces of the high-precision chains. A speed-reducing servo motor is arranged in the mesh belt driving motor and used for providing mesh belt driving power. The deceleration servo motor drives the chain wheel 62 to rotate through a synchronous belt, as shown in fig. 9, a mesh belt driven chain wheel is arranged in front of the feeding machine, and a plurality of chain wheel sets corresponding to the mesh belt driven chain wheel are arranged at the lower part of the frame. The chain wheel is connected with the driven chain wheels through a high-precision chain to form a transmission chain. The high-precision chain is also mechanically connected with the upper conveying mesh belt and the lower conveying mesh belt on the side surface.

When the mesh belt conveying device works, a speed reduction servo motor of the mesh belt driving mechanism 6 is controlled by a servo unit of an industrial computer, a mesh belt driving motor 61 drives a chain wheel, the chain wheel drives a mesh belt driven chain wheel 63, a chain is driven together, and then the conveying mesh belt is driven to move forward stably.

As shown in figure 2, in order to improve the forward smoothness of the mesh belt, a plurality of carrier rollers are arranged on the inner surface of the conveying mesh belt, and the structure of the carrier rollers is shown in figure 8. The carrier rollers can rotate, and the chain wheels drive the chain wheel sets to be installed at the two ends of the carrier rollers. The two ends of the mesh belt driving roller are respectively provided with one set of large chain wheel and chain to ensure that the two sides and the two ends of the mesh belt can be driven, so that the mesh belt can move uniformly.

As shown in fig. 2, the light sensing system 3, the anti-interference mechanism 82, the camera support 81, and the light sensing system driving motor 20 form a visual identification system base hardware, the industrial camera 8 is installed at a suitable height above the camera support 81, the light sensing system 3 is located inside the rack, the conveying mesh belt is provided with a plurality of meshes, when the upper conveying mesh belt carries the material to be trimmed and passes through the identification area, as shown in fig. 9, the light sensing system 3 is internally provided with a cylindrical light source 31, and a protective cover 32 (as shown in fig. 9) is arranged outside the cylindrical light source, the light source emits strong light upwards from inside the rack, the light is transmitted from the holes of the upper conveying mesh belt, the area where the material to be trimmed is placed cannot be transmitted, so that the light intensity difference of the two areas with and without material is enhanced, and the reliability of. The industrial camera 8 cooperates with a conveyor belt 9 which scans the passing material during its forward movement. In order to further improve the identification precision, a shading anti-interference mechanism 82 is further arranged on the camera support 81, and the anti-interference mechanism 82 shields light rays outside the edge of the current scanning range, so that the interference of redundant background light on the industrial camera 8 is avoided. And splicing the scanning information by the computer, identifying the edge of the cut material according to a set method, judging various defects at the edge of the material, and calculating a trimming track according to an algorithm. As shown in fig. 9, the light sensing system driving motor 20 is started at a fixed time, and the light source housing 32 is driven to rotate by the light source transmission mechanism 33, so that the outer surface is kept clean.

As shown in fig. 3, the moving parts of the numerical control trimming area cutting mechanism are configured as follows: the transverse driving gear motor 43 is installed at one end of the transverse linear moving module 44, and forms a transverse linear moving unit together with the transverse linear moving module 44 and the transverse moving slider 45, and the unit is installed on the upper surface of the longitudinal moving slider 45 of the longitudinal linear moving module 47. The longitudinal driving speed reducing motor 46, the longitudinal linear moving module 47 and the longitudinal moving slide block 48 form a longitudinal linear moving unit, two groups of longitudinal linear moving modules 47 are respectively arranged at the front side and the rear side of the rack and are connected into a frame structure 41 through aluminum profile cross beams, and the frame structure 41 is installed on the rack. The longitudinal driving speed reduction motor is arranged in the middle of the aluminum profile beam, and drives the longitudinal moving slide block to move left and right along the longitudinal linear moving module through two transmission half shafts, so that the transverse linear moving unit is driven to move left and right integrally. The longitudinal movement unit and the transverse movement unit respectively execute longitudinal movement instructions and transverse movement instructions sent by a computer numerical control system, and can mutually and accurately coordinate the movement relationship in a two-dimensional plane to move along any curve. The device of the invention is used for trimming irregular shapes of soft materials, and the irregular shapes are formed by decomposing a control system into a plurality of straight line segments or circular arcs. The numerical control servo unit of the cutting machine executes the processing command to realize the motion trail of the straight line segments or the circular arcs. Their servo driving mode is similar to the motion of general numerically controlled machine tool.

As shown in fig. 3, the cutting component of the numerical control trimming area cutting mechanism is composed as follows: the water cutter head 3 is arranged on the outer surface of the transverse moving slide block, can be carried by two groups of longitudinal and transverse linear moving units and can move along any curve. The inside of the water cutter head 3 is provided with a cylinder switch which can control the high-pressure water injection to be stopped according to instructions. The high pressure water, which can reach pressures above 300MPa (pressure unit: MPa), is generated by an external dedicated high pressure pump 11, as shown in fig. 1. The high-pressure pump and the basic accessories thereof are core power components in the water jet cutting industry at present, and are produced by professional manufacturers, and the machine only selects a proper high-pressure pump type. High-pressure water generated by the high-pressure pump is conveyed to the high-pressure water nozzle through a special high-pressure resistant hard pipe or hose and is ejected or closed under the control of a switch. The nozzle diameter of the water cutter head 3 is very small, generally only a few tenths of millimeters or smaller, so that the jetted high-pressure water is large in pressure, high in speed and very small in diameter, and fine cutting can be achieved. According to the water jet cutter, the high-pressure pump is arranged at a position outside the machine structure shown in the figure 1, the high-pressure pumps of the water jet cutter head 3 are connected through the special high-pressure resistant hard pipe or hose, the length of the hard pipe or hose is far larger than the distance between the connected parts, and more margin is provided, so that the high-pressure water nozzle can move randomly within a certain range. Whether the two groups of linear basic motion units move or not, the high-pressure water nozzles of the water cutter head 3 can be switched on and off according to the instructions of the control system, so that the trimmed material is cut. When the material cutting machine works, the material enters a trimming area, the action of the cutting machine is controlled by a computer servo system, the high-pressure water nozzle is driven to move according to instructions, and the high-pressure water nozzle continuously sprays high-pressure water to cut the material in the moving process.

As shown in figure 1, a water collecting and removing device 5 and a guide rail 51 are arranged below the mesh belt of the cutting machine part. The water collecting and removing device 5 can make the cut water actively flow downwards and be discharged out of the machine through relevant components of the water collecting and removing device 5. The two guide rails 51 are installed on the frame. The water collecting and removing device 5 is arranged on the guide rail 51 and can move inside and outside along the guide rail, so that the operation such as maintenance, cleaning and the like is convenient.

The water collecting and removing device consists of two parts, namely a water leakage grating and a water outlet and removing mechanism, and is placed up and down. The structure is shown in fig. 4 and 5.

As shown in fig. 4, the water leakage grid 53 is formed by welding a plurality of steel wires or vertically installed thin plates distributed in the longitudinal and transverse directions, and the longitudinal and transverse intervals are arranged according to actual requirements. The water-leaking grid 53 is mounted on a grid support welded or fixed to the frame (fig. 2) by bolts, and is positioned at a height below the conveying belt to support the conveying belt. When the material to be trimmed is carried on the upper surface of the conveying mesh belt and enters the cutting machine for cutting, the water leakage grid 53 provides support for the trimming material through the conveying mesh belt from the lower part. The structure of the water leakage grid can also lead the fluid at the upper side and the lower side to carry out convection, which is beneficial to drainage.

As shown in fig. 5, the main components of the effluent water removing mechanism are as follows: the water flow generated during cutting flows down to the water collecting tank 52 through the holes of the conveying mesh belt and the water leakage grating 53 and is discharged through the water outlet tank 54; the water suction fan 58 can suck water mist and fine water flow from the lower part of the water leakage grille 53 and the conveying net belt, and because the conveying net belt is provided with a plurality of fine holes, more water mist generated by high-pressure water impact during cutting is sucked into the dehydrator by the water suction fan 58 and is discharged to the outside of the machine through the exhaust hole 59. The number of the fixed supporting legs is four, the lower surface of a supporting cross lining of the water collecting tank is arranged, the adjustable supporting legs are sleeved outside the fixed supporting legs and used for adjusting the supporting height, and the lower end parts of the adjustable supporting legs are provided with rollers which enable the water collecting and removing device to flexibly move back and forth on the guide rail (as shown in figure 2).

As shown in fig. 6, the web drive motor 61, which is also a deceleration servo motor, is provided to power the web drive mechanism, and its drive unit is controlled by the computer servo unit, as is the drive deceleration motor of the cutter. The mesh belt driving motor 61 is arranged on the frame through a motor mounting plate 64, the left and right positions of the motor mounting plate 64 on the frame can be adjusted by adjusting bolts, and a shaft head of the mesh belt driving motor is provided with a small synchronous belt pulley. Two groups of bearing blocks are arranged on two sides of the frame, the carrier roller is arranged on the bearing blocks through two shaft diameters, two ends of the carrier roller are respectively provided with a driving chain wheel, and one end of the carrier roller is also provided with a large synchronous belt wheel. The small synchronous belt wheel and the large synchronous belt wheel are driven by a belt. Therefore, the mesh belt driving motor can drive the driving chain wheel and the carrier roller to rotate, the driving chain wheel drives the chain connected with the driving chain wheel to advance, the chain enables the conveying mesh belt connected with the driving chain wheel to advance, and the carrier roller has a supporting effect on the conveying mesh belt.

As shown in fig. 2, the sprockets and the idlers shown in fig. 6 are provided with three sets at other positions of the frame, and the three sets jointly support the conveying mesh belt and enable the mesh belt to move uniformly.

The linear motion of the conveying net belt and two groups of linear basic motion units of the cutting machine form a three-axis linkage motion system which is controlled by a computer three-axis linkage numerical control system, so that three actions of longitudinal forward motion, transverse movement and longitudinal additional motion during trimming and cutting can be realized together, and the cutting motion speed can be accelerated.

As shown in fig. 2, a return roller 15 and a return belt 16 are provided outside the mesh belt drive mechanism. At the end of the trimming, the conveyor belt conveys the material out of the cutting area to the end of the machine. At this end, the return roller 15, the return belt 16, forces the belt to make a 180 degree turn, entering the lower part of the machine, forming the lower belt configuration. In the lower region of the entry machine, the return belt 16 is pressed all the way out of the conveyor belt, and the return frame 23 is provided with an end return roller 18, around which the return belt 16 can circulate back (as shown in fig. 9). When the material feeding machine works, the conveying mesh belt is matched with the material returning belt, the trimmed material is clamped between the two belts, and the material is conveyed back to the lower part of the feeding machine. The operator can take the trimmed material away in time. With the structure, one operator can complete all manual operations required by the machine.

As shown in fig. 7, the nip roll has left and right bidirectional convex spiral lines, and the function of the spiral lines is to push the soft material passing through the surface of the nip roll to the two ends of the nip roll.

As shown in fig. 8, the idler consists of a supporting journal, a plug, a steel roller, and a rubber layer, which provides the idler with a certain elasticity, ensuring reliable contact and reducing wear of the belt as the belt passes over its surface.

The machine is provided with special control software, and all the actions and calculations required to be controlled mainly comprise the switches of all the components, the action sequence and the like, and are realized by the software in a centralized way. In addition, the feeding speed of the conveying net belt, the action time and precision of visual scanning, the accuracy grade of the cutting track and the speed of the numerical control cutting motion shaft can be adjusted. The hardware configuration of the machine is selected from proper structure types, and the control functions are correspondingly arranged in the software.

The computer is internally provided with a numerical control system which automatically converts the trimming track into a cutting and processing instruction, and the processing instruction is sent to a numerical control execution system, and the computer commands the cutting machine to perform subsequent cutting according to requirements. And return from their interior to form a closed conveying loop, and a mesh belt driving mechanism provides power to drive the conveying mesh belt to move. The water cutter head and the industrial camera are positioned at proper positions above the conveying mesh belt.

The periphery of the cutting area can be provided with a closed fence, the cutting machine, the water removing machine, the high-pressure water nozzle and the like in the figure 1 are arranged in the closed area, a plurality of windows can be arranged on the fence, each window is provided with a safety protection switch, and when the windows are opened, the high-pressure water pump cannot be started.

The working principle is as follows:

the light sensing system is located inside the recognizer body, and the dehydrator is located inside the cutting machine. The conveying net belt is divided into two component areas, one part covers the outer surface of the feeding machine, the other part of the conveying net is provided with a plurality of meshes, the meshes cover the upper surfaces of the identification machine, the cutting machine and the net belt driving mechanism and return from the interiors of the identification machine, the cutting machine and the net belt driving mechanism to form a closed conveying loop, and the net belt driving mechanism provides power to drive the conveying net belt to move. The water knife and the industrial camera are positioned at proper positions above the conveying mesh belt.

When the automatic cutting machine works, the mesh belt driving mechanism drives the conveying mesh belt to circularly move around a dotted line shown in the figure 1, the conveying mesh belt coated on the outer surface of the feeding machine receives cut materials of which the front ends are conveyed by manpower or a conveying line, and after the materials enter the upper surface of the conveying mesh belt in the region of the feeding machine, a mechanism for flattening the materials is arranged in the feeding machine to ensure that the cut materials are spread and flattened so as to prepare for subsequent visual identification and cutting processing. The feeder can feed material into the belt conveyor in the vision system area according to system instructions, and the outer belt conveyor in the vision system area feeds the material into the scanning position.

The recognizer, the light sensing system, the industrial camera and the industrial computer jointly form a visual recognition system, and the industrial camera adopts a linear array camera. The light sensing system inside the recognizer body provides proper back light from the lower part of the cut material to raise the reliability of the scanning effect of the industrial camera. The recognition machine provides a scanning platform, and a shading anti-interference mechanism for guaranteeing the scanning effect is arranged on the recognition machine. The industrial camera is matched with the conveying mesh belt, the materials passing through are scanned in the material movement process, the scanning information is spliced, the edge of the cut material is identified according to the method, the trimming track is calculated according to the algorithm, the numerical control system is arranged in the computer, the trimming track is automatically converted into a cutting and processing instruction by the system, the processing instruction is sent to the numerical control execution system, and the computer instructs the cutting machine to perform subsequent cutting according to the requirement.

After passing through the visual identification area, the material is carried by the conveyor belt into the numerical control finishing area. The cutting machine located in the area comprises two groups of linear basic motion units, each group of motion units is composed of a speed reduction servo motor drive and a group of linear moving modules, and respectively executes longitudinal and transverse moving instructions sent by a computer numerical control system, and moves along any curve in a two-dimensional plane, and the servo drive modes of the motion units are similar to those of a common numerical control machine. The high-pressure water nozzles are arranged on a cross beam of the transverse moving module, can be carried by two groups of linear moving units and move along any curve. The device of the invention is used for trimming irregular shapes of soft materials, and the irregular shapes are formed by decomposing a control system into a plurality of straight line segments or circular arcs. The numerical control servo unit of the cutting machine executes the processing command to realize the motion trail of the straight line segments or the circular arcs.

The pressure of the high-pressure water can reach more than 300MPa (pressure unit: megapascal), and the high-pressure water is generated by an external special high-pressure pump. The high-pressure pump and the basic accessories thereof are core power components in the water jet cutting industry at present, and are produced by professional manufacturers, and the machine only selects a proper high-pressure pump type. High-pressure water generated by the high-pressure pump is conveyed to the high-pressure water nozzle through a special high-pressure resistant hard pipe or hose and is ejected or closed under the control of a switch. The diameter of the high-pressure water nozzle is very small, generally only a few tenths of millimeters or smaller, so that the high-pressure water is high in pressure, high in speed and very small in diameter, and fine cutting can be achieved. According to the water jet cutter, the high-pressure pump is arranged at a certain position outside the machine structure shown in the figure 1, the high-pressure water nozzles are carried on two groups of linear basic motion units on the cutting machine, the high-pressure water nozzles are connected with the high-pressure pump through special high-pressure-resistant hard pipes or hoses, the lengths of the hard pipes or hoses are far greater than the distance between connected parts, and the high-pressure water nozzles have more margin and can move randomly within a certain range. Whether the two groups of linear basic motion units move or not, the high-pressure water nozzles can be switched on and off according to the instructions of the control system, and the trimmed materials are cut. When the material cutting machine works, the material enters a trimming area, the action of the cutting machine is controlled by a computer servo system, the high-pressure water nozzle is driven to move according to instructions, and the high-pressure water nozzle continuously sprays high-pressure water to cut the material in the moving process.

The lower part of the mesh belt at the cutting machine part, namely the inside of the cutting machine, is also provided with a dehydrator, and the dehydrator can ensure that the cut water actively flows downwards and is discharged out of the machine through related components of the dehydrator. The dehydrator consists of a water leakage grating and a water outlet mechanism. The water leakage grille is formed by welding a plurality of steel wires or vertically-arranged thin plates which are distributed along the longitudinal direction and the transverse direction, and the longitudinal direction and the transverse direction of the water leakage grille are arranged according to the actual requirement. The water leakage grid is arranged on the frame of the cutting machine, is positioned below the conveying mesh belt in height and can support the conveying mesh belt. When the trimmed material is carried on the upper surface of the conveying net belt and enters the cutting machine for cutting, the water leakage grid provides support for the trimmed material through the conveying net belt from the lower part. The structure of the water leakage grating can also lead the fluid at two sides of the water leakage grating to carry out convection, thus being beneficial to draining. The water outlet mechanism of the dehydrator is provided with a water pumping fan, a water mist outlet, a water outlet and the like, the water pumping fan can pump water flow and water mist from the lower part of the conveying net belt, and the water flow and the water mist generated during cutting are pumped into the dehydrator by the water pumping fan and are discharged to the outside of the machine through the water mist outlet and the water outlet due to a plurality of tiny holes in the conveying net belt.

In addition, the power of the mesh belt driving mechanism is also provided by a speed reduction servo motor, the driving unit is also controlled by a computer servo unit, a mesh belt driving roller is driven to rotate after speed reduction, two ends of the mesh belt driving roller are respectively provided with a large chain wheel, a chain is arranged on the large chain wheel, and a guide rail is arranged outside the chain and used for ensuring the stable transmission of the chain. The chain is mechanically connected with the conveying mesh belt, so that the conveying mesh belt can be driven to advance when the chain moves. The two ends of the mesh belt driving roller are respectively provided with one set of large chain wheel and chain for ensuring that the two sides of the mesh belt can be driven, so that the mesh belt can move uniformly. The linear motion of the conveying net belt and two groups of linear basic motion units of the cutting machine form a three-axis linkage motion system which is controlled by a computer three-axis linkage numerical control system, so that three actions of longitudinal forward motion, transverse movement and longitudinal additional motion during trimming and cutting can be realized together, and the cutting motion speed can be accelerated.

At the end of the trimming, the conveyor belt conveys the material out of the cutting area to the end of the machine. At this end, the belt makes a 180-degree turn, enters the lower part of the machine, and in this part of the area, the outside of the belt is pressed with an accessory return belt, the trimmed material is clamped between the two belts, the two belts cooperate to convey the material back to the return frame below the feeder, and the operator can take the trimmed material from the return frame. With the structure, one operator can complete all manual operations required by the machine.

The operations and calculations to be controlled, which mainly include the switching and operation sequence of each component, are realized collectively by the software. In addition, the feeding speed of the conveying net belt, the action time and precision of visual scanning, the accuracy grade of the cutting track and the speed of the numerical control cutting motion shaft can be adjusted. The hardware configuration of the machine is selected from proper structure types, and the control functions are correspondingly arranged in the software.

The invention has unique and special composition and structure, and the technological process and the specific structure are obviously different from the water jet cutter used in the prior common cutting and different from the common automatic computer cutting machine.

The machine is special equipment, is used for purposefully finishing the edge of a soft material with irregular shape, and has special purposes. The components are specially designed and configured, the technological process is specific, and the software of the control system is specially developed. The machine is provided with specially developed control software, and high-pressure water is used as a cutting tool, so that the machine can replace human eyes and hands, obtain material edge information (shapes, holes, surface scars and the like), calculate a cutting path for trimming and realize automatic edge trimming. During the operation of the machine, the cutting machine finishes the trimming processing of the previous material and simultaneously performs calculation work such as recognition, processing track calculation and the like on the next material by the vision recognition system so as to improve the overall working efficiency of the machine. The machine is particularly suitable for finishing natural materials such as animal leather, and has good processing quality and high efficiency.

In addition, according to different material thicknesses, the height distance between the industrial camera and the conveying mesh belt and the height distance between the water cutter head and the conveying mesh belt can be respectively preset. The height direction can be additionally provided with a servo motor for driving, and the servo motor is linked with the cutting motion, so that the invention only aims at two-dimensional trimming and cutting, only needs to have simple adjusting function, and does not need to realize numerical control driving in the height direction.

In addition, the invention can also be used for finishing thin hard materials. But the invention has the function of flattening the soft material, and the hard material does not have the requirement; the invention also has the function of returning after the soft material is trimmed, the hard material cannot be used, and the efficiency is reduced.

The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims

1. The device for recognizing and trimming the two-dimensional irregular shape of the soft material is characterized by comprising,

the feeding machine is used for receiving, spreading and flattening the soft material to be trimmed;

the cutting machine cuts the soft material by adopting a water jet cutting mode, and is provided with two groups of linear basic units which can move transversely and longitudinally in a two-dimensional plane;

2. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the feeding machine comprises a flattening roller and a chain wheel and chain set, a conveying belt covers the upper surface of the feeding machine, and the conveying belt is driven by the chain wheel and chain set arranged outside.

3. The soft material two-dimensional irregular shape recognition and trimming device of claim 2, wherein: the mesh belt driving mechanism comprises a chain, a mesh belt driving motor, a chain wheel and a mesh belt driven chain wheel, the mesh belt driving motor drives the chain wheel to rotate, the chain wheel drives at least one mesh belt driven chain wheel to drive through the chain, and the chain is mechanically connected with the conveying mesh belt on the side face.

4. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the mesh belt driving motor is installed on the frame through the motor installation plate, the left and right positions of the motor installation plate on the frame can be adjusted through the adjusting bolt, a small synchronous belt pulley is installed on a shaft head of the mesh belt driving motor, two groups of bearing seats are installed on two sides of the frame, the carrier roller is installed on the bearing seats through two shaft diameters, a driving chain wheel is installed at each of two ends of the carrier roller, a large synchronous belt pulley is further installed at one end of the carrier roller, transmission is carried out between the small synchronous belt pulley and the large synchronous belt pulley through a belt, the mesh belt driving motor can drive the driving chain wheel and the carrier roller to rotate, a chain connected with the driving chain wheel advances, a conveying mesh belt connected with the chain.

5. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the light sensing system is internally provided with a cylindrical light source, the outside of the light sensing system is provided with a protective outer cover, and a driving motor of the light sensing system drives the light source outer cover to rotate through a light source transmission mechanism; the industrial camera is installed at a proper height above the camera support, and a shading anti-interference mechanism is further arranged on the camera support.

6. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the cutting machine comprises a frame structure, two groups of transverse linear motion units, a longitudinal linear motion unit and cutting components, wherein the transverse linear motion units are arranged on the upper surface of the longitudinal linear motion unit, the two groups of longitudinal linear motion units are respectively arranged on the front side and the rear side of a rack, the cutting components are arranged on the transverse linear motion unit, the cutting components adopt water cutter heads, air cylinder switches are arranged in the water cutter heads, and an external high-pressure pump generates pressure of high-pressure water.

7. The soft material two-dimensional irregular shape recognition and trimming device of claim 6, wherein: the transverse driving speed reducing motor is arranged at one end of the transverse linear moving module, forms a transverse linear moving unit together with the transverse linear moving module and the transverse moving slide block, forms a longitudinal linear moving unit together with the longitudinal linear moving module and the longitudinal moving slide block, is arranged on the upper surface of the longitudinal moving slide block of the longitudinal linear moving module, is arranged in the middle of the frame structure, and drives the longitudinal moving slide block to move left and right along the longitudinal linear moving module through two transmission half shafts.

8. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the dehydrator comprises a water collecting tank, a water leakage grid is arranged at the top of the water collecting tank, a water outlet tank is arranged at the bottom of the water collecting tank, a fixed supporting leg is arranged on the lower surface of a supporting cross lining of the water collecting tank, an adjustable supporting leg is sleeved outside the fixed supporting leg, and a roller is arranged at the lower end of the adjustable supporting leg and enables the dehydrator to move back and forth on a guide rail.

9. The soft material two-dimensional irregular shape recognition and trimming device of claim 1, wherein: the material returning area is arranged on the outer side of the mesh belt driving mechanism and is provided with a material returning roller and a material returning belt, the material returning roller and the material returning belt force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form the shape of a lower conveying mesh belt, the material returning belt is always pressed outside the conveying mesh belt in the area of the lower part of the machine, the material returning frame is provided with a tail end material returning roller, and the material returning belt can circulate back by bypassing the tail end material returning roller.

10. The soft material two-dimensional irregular shape recognition and trimming device of claim 5, wherein: the carrier roller comprises support axle journal, end cap, steel roller, rubber layer.