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

Abstract

The invention discloses a device for identifying and trimming the two-dimensional irregular shape of soft materials. The device of the invention can flatten the trimmed material on a machine conveyor belt, carry out two-dimensional visual identification of its contour and surface condition, and use a water jet to clean the material. The shape is automatically trimmed and cut, and the trimmed material is automatically returned to the vicinity of the feeding position; the machine is equipped with a self-developed special program control to replace human eyes and hands, obtain edge information (shape, holes, surface scars, etc.), calculate the cutting path, from From visual recognition to determining the trimming trajectory, then to trimming and processing, and then returning to the feeding position, the entire process is automatically completed. In addition, within the same time period when the previous material is processed, the visual recognition and processing trajectory calculation of the next material are online and parallel. calculation, improve efficiency.

Description

Recognition and trimming device for two-dimensional irregular shape of soft materials

technical field

The invention belongs to the technical field of outer edge trimming of soft materials, in particular to a device for identifying and trimming two-dimensional irregular shapes of soft materials.

Background technique

The invention relates to the use of water jets to trim the outer edges of soft materials with irregular shapes, especially the automatic identification and trimming of the leather shapes of large animals such as cattle and sheep. The applicable processing objects are so-called "soft materials", and "soft materials" are not strictly The scientific definition of it is defined in the present invention as a thin sheet-like solid material that can deform downwards due to its own gravity at the part without bottom support. It mainly refers to the material types with large area-to-thickness ratio, high flexibility and low hardness, such as cloth, leather, fiber, and film.

The edges of these materials often need to be trimmed in production. When their edges show irregular changes, the trimming is more complicated. Taking leather as a typical representative, in the manufacturing process from fur to finished leather, it is generally necessary to trim the shape of the leather many times to remove various defects on the outer edge, so that it can meet the subsequent processing requirements, use requirements and people's expectations. Psychological expectations of the shape of animal leather. Due to the irregular shape of the leather, there may also be various defects (such as holes, scars, looseness, overlaps, etc.) at the outer edges, and the shape of each leather is different from each other. Therefore, specific edge-case determinations are required when pruning. At present, leather manufacturers mainly use manual trimming, that is, to judge the shape trend and identify defects in the leather edge by human eyes, and use scissors to manually trim the leather according to the experience of operators.

The purpose of trimming the edge of the material is to remove part of the material whose edge does not meet the requirements. It belongs to the category of cutting, but it is different from general cutting and segmentation. The purpose of cutting and dividing the general sheet materials is to cut and divide the pieces. At present, many industries have gradually replaced the traditional manual operation with machines to automatically lay out and cut soft materials. For example, in the field of cloth and leather processing, computer-controlled soft materials are used. The automatic cutting system can automatically cut the material by the computer-controlled cutting head according to the designed layout drawing, and its function is getting stronger and stronger, and it is widely used in the industries of clothing, car seats, interior parts and furniture. This type of cutting machine is suitable for cutting large pieces of material into small pieces of various shapes. However, for trimming irregular edges of materials, edge trimming needs to be treated as a special case of cutting and layout. After visual scanning, it is necessary to manually edit graphics and modify cutting plans. The process is complicated and the efficiency is very low, which is much lower than that of manual work. Trimmed, moot in mass production.

In addition, most cutting machines currently use lasers as cutting heads, which will produce harmful substances or damage the materials during cutting, especially when cutting materials such as animal leather, the use of laser-type high-temperature methods is easy to cause protein sintering, which not only destroys the state of the edge material And produce harmful gas.

Water jet, whose real name is high-pressure water jet cutting technology, is a safe and environmentally friendly cutting method emerging in recent years. Using high-pressure water as a knife, it can cut any material with any curve. When cutting, the material has no thermal effect, does not produce high temperature (belongs to cold cutting), and does not produce harmful substances, which is safe and environmentally friendly. At present, it is mainly used for cutting difficult-to-process materials or flammable and explosive occasions. The water jet is used to cut generally hard solids, such as ceramics, stone, glass, metal, etc., and the cutting speed is relatively slow. But for cutting soft materials, the cutting travel speed can be very high, in theory, it can reach the order of 100 meters per minute.

In addition, among the common industrial cutting methods, only water cutting is cold cutting. The kinetic energy of the water jet is used to cut the metal to achieve the cutting purpose. There is no chemical change during the cutting process, and it has no effect on the physical and chemical properties of the cutting material and no thermal deformation. , Narrow slit, high precision, smooth cut surface. For situations where high temperatures need to be avoided or preferably not generated during cutting, water jet cutting of soft materials should be a more suitable method.

Due to its own characteristics, water jet has various technical difficulties in specific application occasions, which restrict its popularization and utilization. For example, how to increase the cutting speed to reach the order of tens of meters per minute. The general waterjet machine structure cannot meet this requirement at present; another example is the immersion of water on the material to be cut, and the contradiction between drainage and support, etc. Wait. The invention solves the main technical problems encountered by the water jet when trimming the edge of the soft material, and the water jet, a cutting tool, can well realize the irregular shape trimming of the general soft material.

SUMMARY OF THE INVENTION

The purpose to be achieved by the present invention is: 1. It can adapt to high-pressure water jet technology, and automatically trim soft materials with irregular two-dimensional edges, especially for materials with ever-changing edges such as animal leather; The speed needs to reach the order of magnitude of tens of meters per minute, and the overall working process needs to reflect high efficiency; 3. During the cutting process, form a suitable support for the bottom of the soft material to ensure smooth and continuous cutting, and to make the water flow generated by cutting . The water vapor is cleaned out of the cutting area in time; 4. The material to be cut can smoothly pass through the visual recognition area and the trimming and cutting area during the trimming and cutting process.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

Recognition and trimming device for two-dimensional irregular shape of soft materials, including,

Feeder for receiving and flattening soft material to be trimmed;

The visual recognition system, including the recognition machine, light sensing system and industrial camera, scans and processes the moving soft materials, calculates the trimming trajectory, and instructs the following cutting machine through the industrial computer;

The cutting machine uses water jet cutting to cut soft materials. The cutting machine can move laterally and longitudinally in a two-dimensional plane based on two sets of linear basic units;

The mesh belt drive mechanism is used to drive the conveying mesh belt, and the conveying mesh belt conveys the soft material to be trimmed into the visual recognition system area, the trimming area, the return area, and the return area in turn;

Industrial computer, used to control and instruct the above-mentioned feeding machine, visual recognition system, cutting machine and mesh belt drive mechanism to coordinate work;

The light sensing system is located inside the identification machine, the water eliminator is located inside the cutting machine, and the conveyor belt is divided into two components, one part covers the outer surface of the feeding machine, and the other part of the conveyor belt has meshes, covering the identification machine, cutting The upper surface of the machine and the mesh belt drive mechanism, and return from their interior, forming a closed conveying loop, the water jet of the cutting machine and the industrial camera are located above the conveying mesh belt.

Preferably, the feeding machine includes a flattening roller and a sprocket chain set, the upper surface of the feeding machine is covered with a conveyor belt, and the movement of the conveyor belt is driven by the external sprocket chain set.

Preferably, the mesh belt drive mechanism includes a chain, a mesh belt drive motor, a sprocket, and a mesh belt driven sprocket, the mesh belt drive motor drives the sprocket to rotate, and the sprocket drives at least one mesh belt driven sprocket through the chain to drive, and The chain is mechanically connected to the conveyor belt on the side.

Preferably, the mesh belt drive motor is installed on the frame through the motor mounting plate, and the left and right positions of the motor installation plate on the frame can be adjusted by adjusting bolts. Two sets of bearing seats are installed on both sides. The idler is installed on the bearing seat through the shaft diameter of both ends. A drive sprocket is installed at each end of the idler. One end of the idler is also equipped with a large synchronous pulley and a small synchronous pulley. It is driven by a belt with the large synchronous pulley. The mesh belt drive motor can drive the drive sprocket and the idler to rotate, drive the chain connected to the sprocket to move forward, the conveyor mesh connected to the chain to move forward, and the idler to the conveyor mesh belt. support.

Preferably, a cylindrical light source is provided inside the light-sensing system, and a protective cover is provided outside, and the light-sensing system driving motor drives the light source cover to rotate through the light source transmission mechanism; the industrial camera is installed at a suitable height above the camera bracket, and the camera bracket is also provided with There is a shading and anti-jamming mechanism.

Preferably, the cutting machine includes a frame structure, a transverse linear motion unit, a longitudinal linear motion unit and a cutting part, the transverse linear motion unit is placed on the upper surface of the longitudinal linear motion unit, and there are two sets of longitudinal linear motion units, which are placed on the upper surface of the frame. On the front and rear sides, the cutting parts are installed on the lateral linear motion unit, and the cutting parts use a water jet head. The water jet head is equipped with a cylinder switch, and an external high-pressure pump generates the pressure of high-pressure water.

Preferably, the lateral drive deceleration motor is installed at one end of the lateral linear movement module, and constitutes a lateral linear movement unit with the lateral linear movement module and the lateral movement slider, and the longitudinal drive deceleration motor is constituted by the longitudinal linear movement module and the longitudinal movement slider. The longitudinal linear motion unit, the transverse linear motion unit is installed on the upper surface of the longitudinal moving slider of the longitudinal linear moving module, the longitudinal drive reduction motor is installed in the middle of the frame structure, and the longitudinal moving slider is driven to move linearly in the longitudinal direction through two transmission half shafts The module moves left and right.

Preferably, the water eliminator includes a water collection tank, the top of the water collection tank is provided with a water leakage grille, and the bottom of the water collection tank is provided with a water outlet groove, the fixed legs are installed on the lower surface of the supporting transverse lining of the water collection tank, and the adjustable legs are sleeved on the fixed legs Outside, the lower end of the adjustable outrigger is provided with a roller, and the roller enables the water collector to move back and forth on the guide rail.

Preferably, the return area is set on the outside of the mesh belt drive mechanism, and is provided with a return roller and a return belt. The return roller and the return belt force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form a lower conveying mesh belt. In the lower part of the machine, the return belt is always pressed on the outside of the conveyor belt, and the end return roller is installed on the return frame, and the return belt can bypass the end return roller and circulate back.

Preferably, the idler is composed of a support journal, a plug, a steel roller, and a rubber layer.

Through the above technical features, the following beneficial effects can be obtained:

The device of the invention can flatten the trimmed material on the conveyor belt of the machine, carry out two-dimensional visual recognition of its contour and surface condition, automatically trim and cut the contour of the material with a water jet, and automatically return the trimmed material to the vicinity of the feeding position. The machine is equipped with self-developed special program control to replace human eyes and hands, obtain edge information (shape, holes, surface scars, etc.), calculate the cutting path, from visual recognition to determining the trimming trajectory, then trimming processing, and then returning to the feeding position , the whole process is completed automatically. In addition, within the same time period when the former material is processed, the visual recognition and processing trajectory calculation of the latter material are calculated in parallel online to improve efficiency. The use of water jet technology protects the trimmed material from high temperature damage and avoids the generation of harmful gases; it is especially suitable for replacing artificial and trimming natural materials such as animal leather, with good processing quality and high efficiency.

This machine is a special equipment tailor-made for the two-dimensional irregular shape trimming of soft materials, and its purpose is specific. Its components are specially designed and configured, its technological process is specific, and the control system software is specially developed. The present invention has a unique and dedicated composition and structure, and its technological process and specific structure are obviously different from the current water jets commonly used for cutting, and also different from the general computer automatic cutting machines.

Compared with the prior art: the present invention is different from the cutting method of the common computer cutting machine. The machine adopts the high-pressure water cutting method, which has the characteristics of low temperature cutting and no harmful gas emission. The invention is different from the scope of application of ordinary computer cutting machines. The machine has a unique and dedicated composition and structure, and is specially used for two-dimensional irregular shape trimming of soft materials, and the trimming efficiency is much higher than that of ordinary computer cutting machines trimming similar shapes.

The overall beneficial effects of the present invention are: cutting soft materials, especially materials such as animal leather, with water jets; purposefully cutting and trimming irregular two-dimensional edges of soft materials with water jets. It has no influence on the physical and chemical properties of the material to be cut, no thermal deformation, narrow slit, high precision, smooth cut surface, clean and pollution-free. The device of the invention replaces labor, realizes automatic trimming of irregular two-dimensional edges of soft materials, saves manpower and reduces labor intensity. When the device of the present invention is in operation, the visual recognition system completes the calculation work such as identification and processing trajectory calculation for the latter material within the same time period when the cutting machine is trimming the former material, so that the trimming productivity is doubled.

Description of drawings

The present invention will be described in further detail below with reference to the accompanying drawings.

Fig. 1 is the relational diagram of each part of the machine of the present invention.

FIG. 2 is a schematic diagram of the detailed structure of the present invention.

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

FIG. 4 is a schematic diagram of the cutting support and the leaking grid of the present invention.

FIG. 5 is a schematic diagram of the main components of the water outlet mechanism of the present invention.

FIG. 6 is a schematic diagram of the main components of the mesh belt drive mechanism of the present invention.

FIG. 7 is a schematic diagram of the principle of the flattening roller of the feeding mechanism of the present invention.

FIG. 8 is a schematic diagram of the structure of the mesh belt idler of the present invention.

FIG. 9 is a schematic diagram of the feeding transmission mechanism of the present invention.

in:

1. Feeder, 2. Recognition machine, 3. Light sensing system, 4. Cutting machine, 5. Water eliminator, 6. Mesh belt drive mechanism, 7. Water jet head, 8. Industrial camera, 9. Conveyor net Belt, 10. Industrial computer, 11. High pressure pump, 12. Flattening roller, 13. Sprocket chain set, 15. Return roller, 16. Return belt, 17. Return frame, 18, End return roller, 19. Descaler motor, 20. Light sensor system drive motor.

61 mesh belt drive motor, 62 sprocket, 63 mesh belt driven sprocket, 64 motor mounting plate, 65 small synchronous pulley, 66 idler, 67 driving sprocket, 68 large synchronous pulley, 31 cylindrical light source, 32 Cover, 33 light source transmission mechanism, 81 camera bracket, 82 shading and anti-interference mechanism, 41 frame structure, 42 water jet head, 43 lateral drive gear motor, 44 lateral linear movement module, 45 lateral movement slider, 46 longitudinal drive gear motor , 47 longitudinal linear movement modules, 48 longitudinal movement sliders, 51 guide rails, 52 water collection tanks, 53 leaking grilles, 54 water outlets, 55 rollers, 56 adjustable legs, 571 support transverse linings, 58 pumping fans, 59 rows stomata.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

As shown in Figure 1-9, the identification and trimming device for two-dimensional irregular shapes of soft materials includes,

Feeder 1, for receiving, spreading and flattening the soft material to be trimmed;

The visual recognition system, including the recognition machine 2, the light sensing system 3 and the industrial camera 8, scans and processes the moving soft materials, calculates the trimming trajectory, and instructs the following cutting machine through the industrial computer;

Cutting machine 4, which uses water jet cutting to cut soft materials. The cutting machine can move laterally and longitudinally in a two-dimensional plane based on two sets of linear basic units;

The mesh belt drive mechanism 6 is used to drive the conveying mesh belt 9, and the conveying mesh belt conveys the soft material to be trimmed into the visual recognition system area, the trimming area, the return area, and the return area in turn;

The industrial computer 10 is used to control and instruct the above-mentioned feeding machine, visual recognition system, cutting machine and mesh belt drive mechanism to work in coordination;

The light sensing system is located inside the identification machine, the water eliminator is located inside the cutting machine, and the conveyor belt is divided into two components, one part covers the outer surface of the feeding machine, and the other part of the conveyor belt has meshes, covering the identification machine, cutting The upper surface of the machine and the mesh belt drive mechanism, and return from their interior, forming a closed conveying loop, the water jet of the cutting machine and the industrial camera are located above the conveying mesh belt.

The feeding machine includes a flattening roller 12 and a sprocket chain group 13. The upper surface of the feeding machine is covered with a conveyor belt, and the movement of the conveyor belt is driven by the external sprocket chain group 13.

The mesh belt drive mechanism 6 includes a chain, a mesh belt drive motor 61, a sprocket 62, and a mesh belt driven sprocket 63. The mesh belt drive motor drives the sprocket 52 to rotate, and the sprocket drives at least one mesh belt driven sprocket 63 through the chain. Drive, and the chain is mechanically connected to the conveyor belt 9 on the side.

The mesh belt drive motor 6 is installed on the frame through the motor mounting plate 64. The left and right positions of the motor installation plate on the frame can be adjusted by adjusting bolts. The shaft head of the mesh belt drive motor is equipped with a small synchronous pulley 65. Two sets of bearing seats are installed on both sides, and the idler 66 is installed on the bearing seat through the shaft diameter of both ends. A drive sprocket 67 is installed at each end of the idler, and one end of the idler is also equipped with a large synchronous pulley 68. The synchronous pulley and the large synchronous pulley are driven by a belt. The mesh belt drive motor can drive the driving sprocket and the idler to rotate, drive the chain connected to the sprocket to move forward, and the conveyor mesh belt connected to the chain moves forward. The support function of the mesh belt; the idler is composed of a support journal, a plug, a steel roller and a rubber layer.

The light-sensing system 3 is provided with a cylindrical light source 31 inside, and a protective cover 32 is provided outside. The light-sensing system drive motor 34 drives the light source cover 32 to rotate through the light source transmission mechanism 33; the industrial camera 8 is installed at a suitable height above the camera bracket 81, A light-shielding and anti-interference mechanism 82 is also provided on the camera bracket.

The cutting machine 4 includes a frame structure 41, a transverse linear motion unit, a longitudinal linear motion unit and a cutting part. The transverse linear motion unit is placed on the upper surface of the longitudinal linear motion unit. There are two sets of longitudinal linear motion units, which are placed in the front and rear of the frame On both sides, the cutting part is installed on the lateral linear motion unit, the cutting part adopts the water jet head 42, the water jet head is provided with a cylinder switch, and the external high pressure pump 11 generates the pressure of high pressure water.

The lateral drive deceleration motor 43 is installed at one end of the lateral linear movement module 44, and forms a lateral linear movement unit with the lateral linear movement module 44 and the lateral movement slider 45, and the longitudinal drive deceleration motor 46 and the longitudinal linear movement module 47 and the longitudinal movement The slider 48 constitutes a longitudinal linear motion unit, the lateral linear motion unit is installed on the upper surface of the longitudinally movable slider of the longitudinal linear moving module, and the longitudinal drive reduction motor is installed in the middle of the frame structure, and the longitudinally movable slider is driven by two transmission half shafts Moving the module linearly in the longitudinal direction moves left and right.

The water eliminator includes a water collecting tank 52, a water leakage grille 53 is arranged on the top of the water collecting tank, and a water outlet groove 54 is arranged at the bottom of the water collecting tank. The fixed legs 57 are installed on the lower surface of the supporting transverse lining 571 of the water collecting tank. Outside the fixed outrigger, the lower end of the adjustable outrigger is provided with a roller, and the roller 55 enables the water collector to move back and forth on the guide rail 51 .

The return area is set on the outside of the mesh belt drive mechanism, and is provided with a return roller 15 and a return belt 16. The return roller and the return belt force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form the lower conveying mesh belt. In the lower part of the machine, the return belt is always pressed on the outside of the conveyor belt, and the end return roller 18 is installed on the return frame 17, and the return belt can bypass the end return roller and circulate back.

The numerical control water jet of the invention is a special equipment tailored for the two-dimensional irregular shape trimming of soft materials. The knife automatically trims and cuts the shape of the material, and the trimmed material automatically returns to the vicinity of the feeding position. The machine is equipped with self-developed special program control to replace human eyes and hands, obtain edge information (shape, holes, surface scars, etc.), calculate the cutting path, from visual recognition to determining the trimming trajectory, then trimming processing, and then returning to the feeding position , the whole process is completed automatically. In addition, within the same time period when the former material is processed, the visual recognition and processing trajectory calculation of the latter material are calculated in parallel online to improve efficiency. This kind of machine protects the trimmed material from being damaged by high temperature and avoids the generation of harmful gases; it is used to replace manual trimming of leather, which saves time and labor and is highly efficient.

The feeder 1 is used to receive the material to be trimmed from the pre-sequence conveyor line or manually, and is provided with a mechanism for flattening the material to ensure that the material to be cut is flattened and ready for subsequent visual recognition and cutting processing. The recognition machine 2 is equipped with an industrial camera 8, which is used to scan the material to be trimmed to obtain images, determine the specific conditions of the edge, and generate a processing plan by the control system software to form a trimming trajectory. The light sensing system 3 is used to improve the scanning reliability of the identification machine 2 . A water jet head 7 is loaded on the cutting machine 4, and according to the motion trajectory instructions sent by the computer, the material is moved, trimmed and cut. The water eliminator 5 is used for timely drainage and defogging to ensure that the material is not soaked by the cutting water. The mesh belt drive mechanism 6 drives the conveying mesh belt 9 to move forward, and makes a circular motion around the dotted line shown in FIG. 1. The upper surface of the conveying mesh belt 9 carries the material to be trimmed. The machine and the mesh belt drive mechanism work in coordination, and the high-pressure pump 11 is used to supply high-pressure water to the water jet head 7 .

As shown in FIG. 2 , the flattening roller 12 is subordinate to the feeder 1, and the function of the flattening roller 12 is to flatten the soft material when the soft material passes through its upper surface. The structure of the flattening roller is shown in Figure 7. The upper surface of the feeding machine 1 is covered with a conveyor belt, which is set as a partially independent belt. As shown in Figure 9, the movement of the conveyor belt is driven by two sprocket chain sets arranged outside, and the two sprocket chains The initial power of the group comes from the mesh belt driven sprocket 63 in front of the feeder. A separate transmission mechanism can also be arranged inside the feeding machine to drive the conveyor belt forward, and the conveyor belt can also be connected with the conveyor mesh belt 9 to form a whole belt, which is driven forward together by the mesh belt drive mechanism.

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 the mesh belt forward drive mechanism. Two high-precision chains are arranged on the upper surface of the frame. In addition to the high precision requirements of the high-precision chains, there are also chain guides on the outside. The mesh belt drive motor is equipped with a deceleration servo motor to provide the mesh belt drive power. The deceleration servo motor is driven by the synchronous belt to drive the sprocket 62 to rotate. As shown in Figure 9, a mesh belt driven sprocket is arranged in front of the feeding machine, and at the lower part of the frame, there is also a mesh belt driven sprocket. Corresponding multiple sprocket sets. The sprockets and these driven sprockets are connected by a high-precision chain to form a drive chain. The high-precision chain is also mechanically connected on the side with the upper and lower conveyor belts.

When working, the deceleration servo motor of the mesh belt drive mechanism 6 is controlled by the industrial computer servo unit, the mesh belt drive motor 61 drives the sprocket, and the sprocket drives the mesh belt driven sprocket 63, which together drive the chain, and then drive the transmission mesh belt to move forward smoothly. .

As shown in Figure 2, in order to improve the stability of the mesh belt, there are several idlers on the inner surface of the conveyor mesh belt, and the structure of the idler is shown in Figure 8. These idlers can be rotated, and the sprockets drive the sprockets to be installed at both ends of the idlers. Such large sprockets and chains are provided at each end of the mesh belt drive roller to ensure that both sides and both ends of the mesh belt can be driven to make the mesh belt move evenly.

As shown in Figure 2, the light sensing system 3, the anti-interference mechanism 82, the camera bracket 81, and the light sensing system drive motor 20 constitute the basic hardware of the visual recognition system. The industrial camera 8 is installed at a suitable height above the camera support 81, and the light sensing system 3 Located inside the frame, there are many meshes on the conveyor belt. When the upper conveyor belt carries the trimmed material and passes through the identification area, as shown in Figure 9, a cylindrical light source 31 is provided inside the light sensing system 3, and a protection Cover 32 (as shown in Figure 9), the light source emits strong light upward from the inside of the frame, the light is transmitted through the holes of the upper conveyor belt, and the area where the trimmed material is placed cannot transmit, so that the two parts with and without material are enhanced. The difference in light intensity in the area improves the reliability of the scanning effect of the industrial camera 8. The industrial camera 8 cooperates with the conveying mesh belt 9 to scan the passing materials during the forward movement of the conveying mesh belt carrying the material. In order to further improve the recognition accuracy, the camera bracket 81 is also provided with a light-shielding and anti-jamming mechanism 82 . The computer splices the scanned information, identifies the edge of the material to be cut according to the set method, judges various defects at the edge of the material, and calculates the trimming trajectory according to the algorithm. As shown in FIG. 9 , the drive motor 20 of the light sensing system is started at regular intervals, and the light source housing 32 is driven to rotate by the light source transmission mechanism 33 to keep the outer surface clean.

As shown in FIG. 3 , the moving parts of the CNC trimming area cutting mechanism are composed as follows: the lateral drive deceleration motor 43 is installed at one end of the lateral linear movement module 44, and forms a lateral linear motion with the lateral linear movement module 44 and the lateral movement slider 45. The unit is installed on the upper surface of the longitudinal moving slider 45 of the longitudinal linear moving module 47 . The longitudinal drive deceleration motor 46, the longitudinal linear movement module 47 and the longitudinal movement slider 48 constitute a longitudinal linear movement unit. The longitudinal linear movement module 47 has two groups, which are located on the front and rear sides of the frame, and are connected to the frame by aluminum profile beams. Structure 41, the frame structure 41 is mounted on the rack. The longitudinal drive reduction motor is installed in the middle of the aluminum profile beam, and drives the longitudinal moving slider to move left and right along the longitudinal linear movement module through two transmission half shafts, thereby driving the horizontal linear movement unit to move left and right as a whole. The longitudinal and lateral movement units respectively execute the longitudinal and lateral movement commands sent by the computer numerical control system. In the two-dimensional plane, they can precisely coordinate the movement relationship with each other and move along any curve. The device of the present invention is used for trimming the irregular shapes of soft materials. These irregular shapes are decomposed into many straight line segments or arcs by the control system. The CNC servo unit of the cutting machine executes the processing instructions to realize the motion trajectory of these straight line segments or arcs. Their servo drive mode is similar to that of general CNC machine tools.

As shown in Figure 3, the cutting components of the CNC trimming area cutting mechanism are composed as follows: the water jet head 3 is installed on the outer surface of the laterally moving slider, which can be carried by two sets of longitudinal and lateral linear motion units to move along any curve. There is a cylinder switch inside the water jet head 3, which can control the shutdown of the high-pressure water jet according to the command. The pressure of high-pressure water can reach more than 300MPa (pressure unit: MPa), which is generated by an external special high-pressure pump 11, as shown in Figure 1. This type of high-pressure pump and its basic accessories are the core power components of the water jet industry at present, and are produced by professional manufacturers. This machine only selects the appropriate high-pressure pump model. The high-pressure water generated by the high-pressure pump is sent to the high-pressure water nozzle through a special high-pressure resistant hard pipe or hose, and is injected or closed by the switch. The diameter of the nozzle of the water jet head 3 is very small, generally only a few tenths of a millimeter or smaller. Therefore, the jetted high-pressure water has high pressure, high speed, and small diameter, and can achieve fine cutting. In the water jet of the present invention, the high-pressure pump is placed at a certain position outside the machine structure in Fig. 1, and the high-pressure pumps of the water jet head 3 are connected by special high-pressure resistant hard pipes or hoses, and the length of these hard pipes or hoses is very large Due to the distance between the connected parts, there is more margin, so that the high-pressure water nozzle can move freely within a certain range. No matter whether the two sets of linear basic motion units move or not, the high-pressure water nozzles of the water jet head 3 can be switched on and off according to the instructions of the control system, so as to realize the cutting of the trimmed material. When working, the material enters the trimming area, the action of the cutting machine is controlled by the computer servo system, and the high-pressure water nozzle is driven to move according to the command, and the high-pressure water nozzle continuously sprays high-pressure water to cut the material during the movement.

As shown in FIG. 1 , below the mesh belt of the cutting machine, there are water collectors 5 and guide rails 51 . The water collector and eliminator 5 can make the cut water flow downwards actively, and be discharged to the outside of the machine through the relevant components of the water collector and eliminator 5 . There are two guide rails 51, which are installed on the rack. The water collecting and removing device 5 is placed on the guide rail 51, and can move along the inside and outside of the guide rail, which is convenient for maintenance, cleaning and other operations.

The water collector and eliminator is composed of two parts: the leakage grid and the water outlet and water removal mechanism, which are placed up and down. Its structure is shown in Figure 4 and Figure 5 respectively.

As shown in FIG. 4 , the water leakage grille 53 is formed by welding a plurality of steel wires or vertically mounted thin plates distributed along the longitudinal and lateral directions, and the longitudinal and lateral intervals are arranged according to actual needs. The leaking grille 53 is installed on the grille bracket, and the grille bracket is welded or fixed on the frame by bolts (Fig. 2), and is located below the conveyor belt in height, which can form a support for the conveyor belt. When the trimmed material is mounted on the upper surface of the conveyor mesh belt and enters the cutting machine for cutting, the water leakage grille 53 provides support for the trimmed material from the lower part through the conveyor mesh belt. The structure of the leaky grid can also make the fluid on the upper and lower sides of the sub-distribution convect, which is beneficial to drainage.

As shown in FIG. 5, the main components of the water outlet and water removal mechanism are composed of: the water flow generated during cutting flows down to the water collecting tank 52 through the holes of the conveyor mesh belt and the water leakage grille 53, and is discharged through the water outlet tank 54; The grille 53 and the bottom of the conveyor mesh belt suck water mist and small water flow. Since there are many small holes on the conveyor mesh belt, more water mist generated due to the impact of high-pressure water during cutting will be drawn into the water eliminator by the suction fan 58 , and is discharged to the outside of the machine through the exhaust hole 59 . There are four fixed outriggers, the lower surface of the support transverse lining of the water collecting tank is installed, and the adjustable outriggers are sleeved outside the fixed outriggers to adjust the support height. The lower end of the adjustable outriggers is provided with rollers, which can remove water from the water collection. The device can move flexibly back and forth on the guide rail (as shown in Figure 2).

As shown in Figure 6, the mesh belt drive motor 61 provides power to the mesh belt drive mechanism, which is also a deceleration servo motor, and its drive unit is controlled by the computer servo unit like the drive deceleration motor of the cutting machine. The mesh belt drive motor 61 is installed on the frame through the motor mounting plate 64. The left and right positions of the motor installation plate 64 on the frame can be adjusted by adjusting bolts. The shaft head of the mesh belt drive motor is equipped with a small synchronous pulley. Two sets of bearing seats are installed on both sides of the frame, and the rollers are installed on the bearing seats through the shaft diameters of both ends. A drive sprocket is installed at each end of the roller, and a large synchronous pulley is also installed at one end of the roller. The belt is used for transmission between the small synchronous pulley and the large synchronous pulley. In this way, the mesh belt drive motor can drive the drive sprocket and the idler to rotate, the drive sprocket drives the chain connected to it to advance, the chain makes the conveyor mesh belt connected to it advance, and the idler supports the conveyor mesh belt.

As shown in Figure 2, there are three sets of sprockets and idlers shown in Figure 6 in other parts of the frame, which jointly support the conveyor belt and make the belt move uniformly everywhere.

The linear motion of the conveyor belt forms a three-axis linkage motion system with the two sets of linear basic motion units of the cutting machine. Three movements to speed up the cutting movement.

As shown in FIG. 2 , on the outside of the mesh belt drive mechanism, a return roller 15 and a return belt 16 are also provided. After finishing, the conveyor belt sends the material out of the cutting area to the end of the machine. At this end, the return roller 15 and the return belt 16 force the conveying mesh belt to turn 180 degrees and enter the lower part of the machine to form the lower conveying mesh belt. When entering the lower area of the machine, the return belt 16 is always pressed on the outside of the conveyor belt, and the end return roller 18 is installed on the return frame 23. The return belt 16 can bypass the end return roller 18 and circulate back (as shown in the figure). 9). When working, the conveyor mesh belt cooperates with the return belt to sandwich the trimmed material between the two belts and transfer the material back to the bottom of the feeder. The operator can remove the trimmed material in time. With this structure, one operator can complete all the manual operations required by the machine.

As shown in FIG. 7 , the flattening roller has left and right bidirectional convex helical lines, the function of which is to flatten the soft material passing through the surface to the two ends of the flattening roller.

As shown in Figure 8, the idler is composed of a support journal, a plug, a steel roller, and a rubber layer. The rubber layer makes the idler have a certain elasticity. When the conveying mesh belt passes through its surface, it can ensure reliable contact and reduce the number of meshes. Belt wear.

The machine is equipped with special control software, and all actions and calculations that need to be controlled, including switches and action sequences of various components, are centrally realized by this software. In addition, the feeding speed of the conveyor belt, the action time and accuracy of the visual scanning, the accuracy level of the cutting trajectory, and the speed of the CNC cutting motion axis can all be adjusted. The appropriate structure type is selected in the hardware configuration of the machine, and these control functions are correspondingly set in the software.

The computer is equipped with a numerical control system, which automatically converts the trimming trajectory into cutting processing instructions, and sends the processing instructions to the numerical control execution system, and the computer commands the cutting machine to perform subsequent cutting as required. And return from their interior to form a closed transmission loop, and the mesh belt drive mechanism provides power to drive the movement of the conveyor mesh belt. The water jet head and industrial camera are located in suitable positions above the conveyor belt.

A closed fence can be installed on the periphery of the cutting area. The cutting machine, water remover, high-pressure water nozzle, etc. shown in Figure 1 are placed in the closed area. Multiple windows can be opened on the fence, and each window is provided with a safety protection switch. When the window is opened, the high-pressure water pump cannot be started. This design is used to prevent high-pressure water from spraying and hurting people in various unexpected situations.

working principle:

The light sensing system is located inside the recognition machine body, and the water eliminator is located inside the cutting machine. The conveyor belt is divided into two components, one part covers the outer surface of the feeding machine, and the other part has many meshes, which cover the upper surface of the identification machine, the cutting machine and the mesh belt drive mechanism, and return from their interiors , forming a closed transmission loop, the mesh belt drive mechanism provides power to drive the movement of the transmission mesh belt. Water jets, industrial cameras are located at suitable positions above the conveyor belt.

When working, the mesh belt drive mechanism drives the conveying mesh belt to make a circular motion around the dotted line shown in Figure 1. The conveying mesh belt wrapped on the outer surface of the feeder receives the cut material sent by the front end manually or by the conveyor line. After the material enters the upper surface of the conveyor belt in the feeder area, a mechanism for flattening the material is installed in the feeder to ensure that the material to be cut is spread out and ready for subsequent visual recognition and cutting processing. The feeding machine can feed the material into the conveyor belt in the vision system area according to the system instructions, and the conveyor belt in this area will feed the material into the scanning part.

The recognition machine, the light sensing system, the industrial camera and the industrial computer together constitute the visual recognition system, and the industrial camera adopts the line scan camera. The conveyor belt carries the material to be cut and passes through the identification machine. At this time, the light-sensing system located inside the identification machine body provides appropriate backlight from the lower part of the material to be cut to improve the reliability of the scanning effect of the industrial camera. The recognition machine provides a scanning platform on which a shading and anti-jamming mechanism is set to ensure the scanning effect. The industrial camera cooperates with the conveyor belt to scan the passing materials during the material movement, splicing the scanned information, identifying the edge of the material to be cut according to the method, and calculating the trimming trajectory according to the algorithm. The computer is equipped with a numerical control system. The system automatically converts the trimming trajectory into cutting processing instructions, and sends the processing instructions to the numerical control execution system, and the computer instructs the cutting machine to perform subsequent cutting as required.

After the material passes through the visual recognition area, it is carried by the conveyor belt into the CNC trimming area. The cutting machine located in this area includes two groups of linear basic motion units. Each group of motion units is driven by a deceleration servo motor and a group of linear movement modules. In the two-dimensional plane, they move along any curve, and their servo drive mode is similar to that of general CNC machine tools. The high-pressure water nozzle is installed on the beam of the lateral moving module, and can be carried by two sets of linear motion units to move along any curve. The device of the present invention is used for trimming the irregular shapes of soft materials. These irregular shapes are decomposed into many straight line segments or arcs by the control system. The CNC servo unit of the cutting machine executes the processing instructions to realize the motion trajectory of these straight line segments or arcs.

The pressure of high-pressure water can reach more than 300MPa (pressure unit: MPa), which is generated by an external special high-pressure pump. This type of high-pressure pump and its basic accessories are the core power components of the water jet industry at present, and are produced by professional manufacturers. This machine only selects the appropriate high-pressure pump model. The high-pressure water generated by the high-pressure pump is sent to the high-pressure water nozzle through a special high-pressure resistant hard pipe or hose, and is injected or closed by the switch. The diameter of the high-pressure water nozzle is very small, generally only a few tenths of a millimeter or smaller. Therefore, the injected high-pressure water has high pressure, high speed and small diameter, which can achieve fine cutting. In the water jet of the present invention, the high-pressure pump is placed at a certain position outside the machine structure shown in Fig. 1, and the high-pressure water nozzle is mounted on two sets of linear basic motion units on the cutting machine. Hard pipe or hose connection, the length of these hard pipes or hoses is much larger than the distance between the connected parts, and has more margin, so that the high-pressure water nozzle can move freely within a certain range. No matter whether the two sets of linear basic motion units move or not, the high-pressure water nozzle can be switched on and off according to the command of the control system to realize the cutting of the trimmed material. When working, the material enters the trimming area, and the action of the cutting machine is controlled by the computer servo system, which drives the high-pressure water nozzle to move according to the instructions, and the high-pressure water nozzle continuously sprays high-pressure water to cut the material during the movement.

Below the mesh belt of the cutting machine, that is, inside the cutting machine, there is also a water eliminator. The water eliminator can make the water after cutting actively flow downward and be discharged from the machine through the relevant components of the water eliminator. The water eliminator is composed of two parts: the leakage grille and the water outlet mechanism. The leaking grille is formed by welding many steel wires or vertically mounted thin plates distributed along the longitudinal and lateral directions, and the longitudinal and lateral intervals are arranged according to the actual needs. The leaking grid is installed on the frame of the cutting machine, and is located below the conveyor belt in height, which can form a support for the conveyor belt. When the trimmed material is carried on the upper surface of the conveyor mesh belt and enters the cutting machine for cutting, the water leakage grille provides support for the trimmed material through the conveyor mesh from the lower part. The structure of the leaking grid can also make the fluid on both sides of the sub-distribution convect, which is beneficial to drainage. The water outlet mechanism of the water eliminator is equipped with a water suction fan, a water mist outlet and a water outlet. The water suction fan can suck the water flow and water mist from the bottom of the conveyor belt. Since there are many small holes on the conveyor belt, the water flow generated during cutting And the water mist will be drawn into the water eliminator by the suction fan, and be discharged to the outside of the machine through the water mist outlet and the water outlet.

In addition, the power of the mesh belt drive mechanism is also provided by a deceleration servo motor. The drive unit is also controlled by the computer servo unit. After deceleration, the mesh belt drive roller is driven to rotate, and a large sprocket is installed at each end of the mesh belt drive roller. A chain is installed on the large sprocket, and there are guide rails outside the chain to ensure the stable transmission of the chain. A mechanical connection is set between the chain and the conveyor belt, so that the chain can drive the conveyor belt forward when it moves. Such large sprockets and chains are provided at each end of the mesh belt drive roller to ensure that both sides of the mesh belt can be driven and the mesh belt moves evenly. The linear motion of the conveyor belt forms a three-axis linkage motion system with the two sets of linear basic motion units of the cutting machine. Three movements to speed up the cutting movement.

After finishing, the conveyor belt sends the material out of the cutting area to the end of the machine. At this end, the conveyor mesh belt is turned 180 degrees and enters the lower part of the machine. In this part of the area, the outer surface of the conveyor mesh belt is pressed with an attached return belt, and the trimmed material is sandwiched between the two belts. The material is conveyed back to the return rack under the feeder, and the operator can remove the trimmed material from the return rack. With such a structure, one operator can complete all the manual operations required by the machine.

The actions and calculations that need to be controlled, including the switches of each component and the sequence of actions, are all centrally implemented by this software. In addition, the feeding speed of the conveyor belt, the action time and accuracy of the visual scanning, the accuracy level of the cutting trajectory, and the speed of the CNC cutting motion axis can all be adjusted. The appropriate structure type is selected in the hardware configuration of the machine, and these control functions are correspondingly set in the software.

The present invention has a unique and dedicated composition and structure, and its technological process and specific structure are obviously different from the current water jets commonly used for cutting, and also different from the general computer automatic cutting machines.

This machine is a special equipment for purposeful trimming of irregularly shaped edges of soft materials, for a specific purpose. Its components are specially designed and configured, its technological process is specific, and the control system software is specially developed. The machine is equipped with specially developed control software and uses high-pressure water as a cutting tool, which can replace human eyes and hands, obtain material edge information (shape, holes, surface scars, etc.), calculate the cutting path for trimming, and realize automatic edge trimming. When the machine is working, within the same time period that the cutting machine trims and processes the previous piece of material, the visual recognition system completes the recognition and processing trajectory calculation for the latter piece of material, so as to improve the overall work efficiency of the machine. The machine is particularly suitable for trimming natural materials such as animal hides with high quality and high efficiency.

In addition, according to different material thicknesses, the height distance between the industrial camera and the conveyor belt and the height distance between the water jet and the conveyor belt can be adjusted in advance. The height direction can also be driven by a servo motor to form a linkage with the cutting movement, but the present invention only needs to have a simple adjustment function for two-dimensional trimming and cutting, and does not need to realize numerical control driving in the height direction.

In addition, the present invention can also be used for trimming of thin sheet hard materials. However, the present invention has the function of flattening the soft material, which is not required for the hard material; the present invention also has the function of returning the soft material after trimming, and the hard material cannot be used, which reduces the efficiency.

The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. The identification and trimming device of the two-dimensional irregular shape of soft material, is characterized in that, comprises, Feeder for receiving, spreading and flattening soft material to be trimmed; The visual recognition system, including the recognition machine, light sensing system and industrial camera, scans and processes the moving soft materials, calculates the trimming trajectory, and instructs the following cutting machine through the industrial computer; The cutting machine adopts the water jet method to cut soft materials. The cutting machine is equipped with two sets of linear basic units, which can realize horizontal and vertical movement in a two-dimensional plane; The mesh belt drive mechanism is used to drive the conveying mesh belt, and the conveying mesh belt conveys the soft material to be trimmed into the visual recognition system area, the trimming area, the return area, and the return area in turn; Industrial computer, used to control and instruct the above-mentioned feeding machine, visual recognition system, cutting machine and mesh belt drive mechanism to coordinate work; The light sensing system is located inside the identification machine, the water eliminator is located inside the cutting machine, and the conveyor belt is divided into two components, one part covers the outer surface of the feeding machine, and the other part of the conveyor belt has meshes, covering the identification machine, cutting The upper surface of the machine and the mesh belt drive mechanism, and return from their interior, forming a closed conveying loop, the water jet of the cutting machine and the industrial camera are located above the conveying mesh belt. 2. The device for identifying and trimming the two-dimensional irregular shape of soft materials according to claim 1, wherein the feeding machine comprises a flattening roller and a sprocket chain group, and the upper surface of the feeding machine is covered with a conveyor belt, The movement of the conveyor belt is driven by a chain set of sprockets arranged outside. 3. The identification and trimming device of the two-dimensional irregular shape of soft material according to claim 2, is characterized in that: the mesh belt drive mechanism comprises a chain, a mesh belt drive motor, a sprocket, a mesh belt driven sprocket, a mesh belt The drive motor drives the sprocket to rotate, the sprocket drives at least one mesh belt driven sprocket through the chain, and the chain is mechanically connected with the conveying mesh belt on the side. 4. The identification and trimming device of the two-dimensional irregular shape of soft material according to claim 1, is characterized in that: the mesh belt drive motor is installed on the frame through the motor mounting plate, and the motor mounting plate is in the left and right positions on the frame , It can be adjusted by adjusting bolts. The shaft head of the mesh belt drive motor is equipped with a small synchronous pulley, and two sets of bearing seats are installed on both sides of the frame. The rollers are installed on the bearing seats through the shaft diameters of the two ends. There is a drive sprocket, one end of the idler is also equipped with a large synchronous pulley, the small synchronous pulley and the large synchronous pulley are driven by a belt, and the mesh belt drive motor can drive the driving sprocket and the idler to rotate, driving The chain connected by the sprocket moves forward, the conveyor belt connected by the chain moves forward, and the idler supports the conveyor belt. 5. The device for identifying and trimming two-dimensional irregular shapes of soft materials according to claim 1, characterized in that: a cylindrical light source is provided inside the light sensing system, and a protective cover is provided outside, and the light sensing system driving motor passes through the light source The transmission mechanism drives the light source cover to rotate; the industrial camera is installed at a suitable height above the camera bracket, and the camera bracket is also provided with a light-shielding and anti-interference mechanism. 6. The device for identifying and trimming the two-dimensional irregular shape of soft materials according to claim 1, wherein the cutting machine comprises a frame structure, a transverse linear motion unit, a longitudinal linear motion unit and a cutting part, and the transverse linear motion unit is arranged On the upper surface of the longitudinal linear motion unit, there are two sets of longitudinal linear motion units, which are located on the front and rear sides of the frame. The cutting part is installed on the horizontal linear motion unit. The cutting part adopts a water jet head, and a cylinder is arranged inside the water jet head Switch, the external high-pressure pump generates high-pressure water pressure. 7. The identification and trimming device of the two-dimensional irregular shape of soft material according to claim 6, is characterized in that: the lateral drive deceleration motor is installed on one end of the lateral linear movement module, and the lateral linear movement module and the lateral movement slide The block constitutes a horizontal linear motion unit, the longitudinal drive deceleration motor, the longitudinal linear movement module and the longitudinal movement slider constitute a longitudinal linear movement unit, the lateral linear movement unit is installed on the upper surface of the longitudinal movement slider of the longitudinal linear movement module, and the longitudinal drive decelerates The motor is installed in the middle of the frame structure, and the longitudinal moving slider is driven to move left and right along the longitudinal linear movement module through two transmission half shafts. 8. The device for identifying and trimming two-dimensional irregular shapes of soft materials according to claim 1, wherein the water eliminator comprises a water collecting tank, the top of the water collecting tank is provided with a leaking grille, and the bottom of the water collecting tank is provided with a water outlet, The fixed outriggers are installed on the lower surface of the supporting transverse lining of the water collecting tank, the adjustable outriggers are sleeved outside the fixed outriggers, and the lower ends of the adjustable outriggers are provided with rollers, which enable the water collector to move back and forth on the guide rails. 9 . The device for identifying and trimming the two-dimensional irregular shape of soft materials according to claim 1 , wherein the material return area is arranged outside the mesh belt drive mechanism, and is provided with a return roller, a return belt, and a return material. 10 . The rollers and the return belt force the conveyor belt to turn 180 degrees and enter the lower part of the machine to form a lower conveyor belt. When entering the lower part of the machine, the return belt is always pressed on the outside of the conveyor belt, and the return frame is equipped with The end return roller, the return belt can circulate back around the end return roller. 10 . The device for identifying and trimming two-dimensional irregular shapes of soft materials according to claim 5 , wherein the idler roller is composed of a support journal, a plug, a steel roller and a rubber layer. 11 .

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