CN113441847A - Cutting device for leftover materials of linen pieces and control method - Google Patents

Cutting device for leftover materials of linen pieces and control method Download PDF

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Publication number
CN113441847A
CN113441847A CN202110716088.7A CN202110716088A CN113441847A CN 113441847 A CN113441847 A CN 113441847A CN 202110716088 A CN202110716088 A CN 202110716088A CN 113441847 A CN113441847 A CN 113441847A
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clamping
sliding table
electric sliding
manipulator
laser cutting
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CN202110716088.7A
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CN113441847B (en
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江晓军
王文霞
寇丽丽
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Shanghai Lasensor Photoelectric Technology Co ltd
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Shanghai Polytechnic University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36—Removing material
    • B23K26/38—Removing material by boring or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70—Auxiliary operations or equipment
    • B23K26/702—Auxiliary equipment

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Laser Beam Processing (AREA)

Abstract

The invention discloses a cutting device for leftover materials of linen goods and a control method. The device comprises a stub bar clamping mechanism, a main material clamping mechanism, a cutting mechanism and a control system; the stub bar clamping mechanism comprises a left corner manipulator and a right corner manipulator; the main material clamping mechanism comprises two clamping mechanical arms; the cutting mechanism includes a laser cutting head. The mechanical arm is used for positioning and clamping the head of the linen and the main material area to form a stable clamping state for the linen, so that the processing shake is eliminated and the labor intensity of workers is reduced; processing lateral and overlooking images of the linen sheet shot by the industrial camera through a computer to obtain three-dimensional position information of the stub bar, and replacing manual measurement; the three-dimensional position information of the stub bar and the cutting boundary position information of the stub bar to be cut are processed through the computer to obtain the three-dimensional motion track information of the laser cutting head, and then the laser cutting head moves according to the track and emits laser to be projected on the stub bar to complete the cutting action, so that the cutting accuracy is greatly improved.

Description

Cutting device for leftover materials of linen pieces and control method
Technical Field
The invention belongs to the technical field of processing of non-metal parts of automobiles, and relates to a cutting device for leftover materials of linen sheets and a control method.
Background
The cutting device for the leftover materials of the linen is applied to the fields of processing non-metal parts of automobiles and the like. When a coiled material is cut into a lining material, the lining material is sent to a grinding processing device, the actual geometric dimension of the lining material is measured manually according to required lining cutting boundary information, then a geometric boundary line needing grinding is drawn, the lining material is held by hands and put on a grinding wheel or a grinding head for grinding, flying chips can be generated by grinding, the lining material shakes to a larger extent, the processing precision requirement of grinding the geometric boundary line is difficult to achieve, and in order to avoid the situation, the lining material needs to be manually and forcefully clamped to reduce the shaking range. In addition, the grinding accuracy of the geometric boundary line of the grinding is not required, and the linen sheet needs to be reworked and ground or scrapped, so the defects of low grinding accuracy and high labor intensity exist.
Disclosure of Invention
In order to overcome the defects of the prior method, the invention provides a cutting device and a control method for leftover materials of textile sheets. The two fulcrum opening and closing type mechanical hands are used for respectively positioning and clamping the material head of the linen, and the two parallel opening and closing type mechanical hands are used for positioning and clamping the main material area of the linen, so that a stable clamping state for the linen is formed, the processing jitter is eliminated, and the manual labor intensity is reduced; side view images and top view images of the linen sheet shot by the industrial camera are processed through a computer to obtain three-dimensional position information of the head of the linen sheet, and manual measurement is replaced; the three-dimensional position information of the material head of the linen is processed by the computer and the cutting boundary position information of the material head of the linen to be cut is processed to obtain the three-dimensional motion track information of the laser cutting head, then the laser cutting head moves according to the track and emits laser to be projected on the material head of the linen to complete the cutting action, and the cutting accuracy is greatly improved.
The technical solution of the invention is as follows:
a cutting device for leftover materials of linen pieces comprises a vertical plate, a top plate, a workbench, a stub bar clamping mechanism, a main material clamping mechanism, a cutting mechanism and a control system; the cutting machine comprises two vertical plates, a top plate is erected above the vertical plates, a stub bar clamping mechanism is arranged on one vertical plate, a lining waste bin for receiving cut lining leftover materials is arranged below the stub bar clamping mechanism, a workbench is arranged at a position close to the other vertical plate, a main material clamping mechanism is arranged on the workbench, the cutting mechanism is arranged on the bottom surface of the top plate, an inclined plate is arranged near the workbench, and the output end of the inclined plate is in butt joint with the bin for receiving the cut lining main materials; wherein:
the stub bar clamping mechanism comprises a supporting plate, a left corner manipulator and a right corner manipulator; one side of the supporting plate is connected to a vertical plate, the other side of the supporting plate is connected to a long connecting plate, two ends of the long connecting plate are respectively connected with a left corner manipulator and a right corner manipulator connecting plate through connecting pieces, the mounting directions of the left corner manipulator and the right corner manipulator are parallel in a horizontal position and are respectively used for clamping left corner materials and right corner materials of linen sheets;
the main material clamping mechanism comprises an X-direction electric sliding table for clamping a two-finger manipulator, a Y-direction electric sliding table for clamping a two-finger manipulator, a Z-direction electric sliding table for clamping a two-finger manipulator and a two-finger manipulator; the X-direction electric sliding table is mounted on the table top of the workbench, the Y-direction electric sliding table is mounted on the X-direction electric sliding table, the Z-direction electric sliding table is mounted on the Y-direction electric sliding table, the Z-direction electric sliding table is mounted on the Z-direction electric sliding table, a steering driving motor of the clamping two-finger manipulator is mounted on the Z-direction electric sliding table, a shaft connector of the clamping two-finger manipulator is sleeved on a shaft of the steering driving motor of the clamping two-finger manipulator, the clamping two-finger manipulator is mounted on the shaft connector of the clamping two-finger manipulator, the clamping two-finger manipulator is used for clamping a main material area of a brake pad, and the X-direction electric sliding table, the Y-direction electric sliding table and the Z-direction electric sliding table are perpendicular to each other;
the cutting mechanism comprises a laser cutting head X-direction electric sliding table, a laser cutting head Y-direction electric sliding table, a laser cutting head Z-direction electric sliding table and a laser cutting head; the X-direction electric sliding table of the laser cutting head is arranged on the bottom surface of the top plate, the top plate is connected with the vertical plate, the Y-direction electric sliding table of the laser cutting head is arranged on the X-direction electric sliding table of the laser cutting head, the Z-direction electric sliding table of the laser cutting head is arranged on the Y-direction electric sliding table of the laser cutting head, a laser cutting head steering driving motor is arranged on the Z-direction electric sliding table of the laser cutting head, a laser cutting head shaft connector is sleeved on a shaft of the laser cutting head steering driving motor, the laser cutting head shaft connector is connected with the laser cutting head through a laser cutting head fixing part, and the X-direction electric sliding table of the laser cutting head, the Y-direction electric sliding table of the laser cutting head and the movement direction of the Z-direction electric sliding table of the laser cutting head are perpendicular to each other;
the control system comprises a computer, a control driver, b control driver, c control driver, a industrial camera and b industrial camera; the industrial camera is used for shooting side view images of the linen, and is connected with the computer through a cable; the computer sends a driving instruction to a control driver a through a cable, and the control driver a generates corresponding control signals to drive a left corner manipulator and a right corner manipulator, so that the left corner manipulator positions and clamps left corner materials of a lining, and the right corner manipulator positions and clamps right corner materials of the lining; the computer obtains position information of the two clamping mechanical arms for clamping the brake sheet according to side view images of the brake sheet shot by the industrial camera a, the computer sends a driving instruction to the control driver b through a cable, generates a corresponding control signal to drive the two clamping mechanical arms X to the electric sliding table, moves the two clamping mechanical arms Y to the electric sliding table and the two clamping mechanical arms Z to the electric sliding table and rotates a shaft of the two clamping mechanical arms steering driving motor, so that the two clamping mechanical arms reach the positions needing to clamp the brake sheet and do clamping action; the industrial camera b is used for shooting overlook images of the linen, and the industrial camera b is connected with the computer through a cable; the computer obtains three-dimensional motion track information of the laser cutting head according to a side view image of a linen sheet shot by the industrial camera, a top view image of the linen sheet shot by the industrial camera and the stub bar cutting boundary position information of the linen sheet to be cut, the computer sends a driving instruction to the c control driver through a cable to generate a corresponding control signal to drive the laser cutting head X to move towards the electric sliding table, the laser cutting head Y moves towards the electric sliding table and the laser cutting head Z to move towards the electric sliding table and the laser cutting head rotates towards the shaft of the driving motor, so that the laser cutting head moves according to the obtained three-dimensional motion track and sends laser to be projected on the stub bar of the linen sheet to finish cutting action.
In the stub bar clamping mechanism, the length of the long connecting plate is selected within the range of 40-160 mm, the left corner manipulator and the right corner manipulator are in a fulcrum opening and closing type, and the distance between the two clamping fingers is selected within the range of 0-12 mm after the clamping fingers of the left corner manipulator and the right corner manipulator are closed.
In the main material clamping mechanism, the range of selecting the stroke of the clamping two-finger manipulator X to the electric sliding table is 0-300 mm, the range of selecting the stroke of the clamping two-finger manipulator Y to the electric sliding table is 0-150 mm, the range of selecting the stroke of the clamping two-finger manipulator Z to the electric sliding table is 0-200 mm, the range of selecting the steering angle of the clamping two-finger manipulator steering drive motor is 0-90 degrees, and the range of selecting the clamping finger width of the clamping two-finger manipulator is 4-30 mm.
In the cutting mechanism, the range of selecting the stroke of a laser cutting head X to an electric sliding table is 0-300 mm, the range of selecting the stroke of the laser cutting head Y to the electric sliding table is 0-150 mm, the range of selecting the stroke of the laser cutting head Z to the electric sliding table is 0-200 mm, the range of selecting the steering angular speed of a steering driving motor of the laser cutting head is 0.1-10 degrees/s, and the range of selecting the laser power of an optical fiber connected to the laser cutting head is 200-1000W;
the invention also provides a control method based on the textile sheet leftover material cutting device, which comprises the following steps:
1) the system is electrified, and the position information of the cutting boundary of the stub bar, the drive parameters of a control driver, b control driver and c control driver are initialized;
2) b, controlling a driver to drive a steering driving motor to reset for clamping the two-finger manipulator X-direction electric sliding table, clamping the two-finger manipulator Y-direction electric sliding table, clamping the two-finger manipulator Z-direction electric sliding table and clamping the two-finger manipulator;
3) after placing the linen pad manually, pressing a cutting start key;
4) the computer (1) judges whether a key for starting cutting is pressed down, if so, the step 5) is carried out, and if not, the step 4) is carried out;
5) a, controlling a driver to drive a left corner manipulator to position and clamp left corner materials of a linen pad, and controlling a right corner manipulator to position and clamp right corner materials of the linen pad;
6) a, an industrial camera shoots side-looking images of a linen sheet and transmits the side-looking images to a computer through a cable, and the computer processes the side-looking images to obtain position information of a clamping double-finger manipulator for clamping the linen sheet;
7) b, controlling a driver to drive the clamping two-finger manipulator to move towards the electric sliding table from X direction, the clamping two-finger manipulator to move towards the electric sliding table from Y direction and the clamping two-finger manipulator to move towards Z direction, and rotating a shaft of a steering drive motor of the clamping two-finger manipulator to enable the clamping two-finger manipulator to reach the position where the linen is required to be clamped and to do clamping action;
8) b, shooting an overhead view image of the linen sheet by the industrial camera and transmitting the overhead view image to the computer through a cable, and processing the overhead view image, the overhead view image and the information of the cutting boundary position of the linen head of the linen sheet to be cut by the computer to obtain the three-dimensional motion track information of the laser cutting head;
9) c, controlling a driver to drive the laser cutting head to move towards the electric sliding table from X direction, the laser cutting head to move towards the electric sliding table from Y direction and the laser cutting head to move towards Z direction, and rotating the laser cutting head to drive a shaft of a motor to rotate, so that the laser cutting head moves according to the obtained three-dimensional motion track and emits laser to be projected onto the material head of the linen, and completing cutting action and resetting;
10) a, controlling a driver to drive a left corner manipulator to loosen left corner materials of a linen pad, a right corner manipulator to loosen right corner materials of the linen pad, and enabling the cut left corner materials and the cut right corner materials of the linen pad to fall into a linen pad waste box;
11) the clamping two-finger manipulator moves towards the electric sliding table Y to enable the clamping two-finger manipulator to clamp the cut main materials of the linen pad to reach the upper part of the inclined plate, the clamping two-finger manipulator is loosened, and the cut main materials of the linen pad slide into the material box;
12) step 2) is entered.
In the step 1), the initial stub bar cutting boundary position information is selected by taking a straight line segment or a circular arc segment as a cutting boundary and setting the total length value L of the straight line segment or the circular arc segment0The selection range of (A) is 30-120 mm.
In the step (6), the computer (1) performs image binarization and filtering to obtain pixels occupied by arc length, and then obtains the actual arc length information of the part of the brake sheet under X and Z coordinates and the position information of the clamping double-finger manipulator (27) to clamp the brake sheet by utilizing the proportion of the length of the scale at the position where the brake sheet is actually placed to the pixels occupied by the scale in the image.
In the step (8), the computer (1) performs image binarization and filtering to obtain pixels occupied by a top view image area of the lining sheet, then obtains the actual position information of the part of the lining sheet under Y and X coordinates by utilizing the length of a scale at the position where the lining sheet is actually placed in the area and the proportion of the scale in the image to the pixels, and then obtains the actual arc length information of the head of the lining sheet under the X and Z coordinates obtained after the computer (1) processes the side view image of the lining sheet, thereby obtaining the three-dimensional position information of the head of the lining sheet.
Compared with the prior art, the invention has the following technical effects:
1. the two fulcrum opening and closing type mechanical hands are used for respectively positioning and clamping a material head of the linen, and the two parallel opening and closing type mechanical hands are used for positioning and clamping a main material area of the linen, so that a stable clamping state for the linen is formed, the processing jitter is eliminated, and the manual labor intensity is reduced;
2. side view images and top view images of the linen sheet shot by the industrial camera are processed through a computer to obtain three-dimensional position information of the head of the linen sheet, and manual measurement is replaced;
3. the three-dimensional position information of the material head of the linen is processed by the computer and the cutting boundary position information of the material head of the linen to be cut is processed to obtain the three-dimensional motion track information of the laser cutting head, then the laser cutting head moves according to the track and emits laser to be projected on the material head of the linen to complete the cutting action, and the cutting accuracy is greatly improved.
Drawings
Figure 1 is a front view of a linen scrap cutting device used in the present invention.
Figure 2 is a top view of a linen scrap cutting device used in the present invention.
FIG. 3(a) is a top view of a textile sheet with straight segments as cut boundaries, according to an embodiment of the present invention.
Figure 3(b) is a side view of a textile sheet having straight line segments as cut boundaries, as used in an embodiment of the present invention.
Fig. 4(a) is a top view of a textile sheet with an arc segment as a cutting boundary according to an embodiment of the present invention.
Figure 4(b) is a side view of a textile sheet having an arc segment as a cut boundary as utilized in embodiments of the present invention.
FIG. 5 is a flow chart of a method of controlling the apparatus for cutting the leftover material of textile sheet according to the present invention.
Reference numbers in the figures: 1-computer, 2-a control driver, 3-b control driver, 4-c control driver, 5-a industrial camera, 6-upright post, 7-camera base, 8-lining waste bin, 9-roller, 10-support plate, 11-long connecting plate, 12-upright plate, 13-top plate, 14-workbench, 15-inclined plate, 16-bin, 17-left corner manipulator connecting plate, 18-left corner manipulator, 19-right corner manipulator connecting plate, 20-right corner manipulator, 21-lining, 22-clamping two-finger manipulator X-direction electric sliding table, 23-clamping two-finger manipulator Y-direction electric sliding table, 24-clamping two-finger manipulator Z-direction electric sliding table, 25-clamping manipulator steering driving motor, 26-a clamping two-finger manipulator shaft connector, 27-a clamping two-finger manipulator, 28-a laser cutting head X-direction electric sliding table, 29-a laser cutting head Y-direction electric sliding table, 30-a laser cutting head Z-direction electric sliding table, 31-a laser cutting head steering driving motor, 32-a laser cutting head shaft connector, 33-a laser cutting head fixing part, 34-a laser cutting head, 35-b an industrial camera, 36-b an industrial camera support frame, 37-a lining left leftover material, 38-a lining right leftover material and 39-a lining main material.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, which are not intended to limit the present invention.
Example 1
As shown in fig. 1 and 2, a cutting device for leftover materials of linen, which comprises a material head clamping mechanism, a main material clamping mechanism, a cutting mechanism and a control system, wherein:
the stub bar clamping mechanism comprises a supporting plate 10, a left corner manipulator 18 and a right corner manipulator 20; one side of a supporting plate 10 is connected to the vertical plate 12 through screws, the other side of the supporting plate 10 is connected to the long connecting plate 11 through screws, two ends of the long connecting plate 11 are respectively connected with one side of a left corner manipulator connecting plate 17 and one side of a right corner manipulator connecting plate 19 through screws, the other side of the left corner manipulator connecting plate 17 is connected with a left corner manipulator 18 through screws, the other side of the right corner manipulator connecting plate 19 is connected with a right corner manipulator 20 through screws, and the mounting directions of the left corner manipulator 18 and the right corner manipulator 20 are parallel and consistent; the length of the long connecting plate 11 is 54mm, and when the computer 1 sends a driving instruction to the control driver 2 a through a cable to drive the clamping fingers of the left corner manipulator 18 and the right corner manipulator 20 to be closed, the distance between the two clamping fingers is 7 mm;
the main material clamping mechanism comprises a clamping two-finger manipulator X-direction electric sliding table 22, a clamping two-finger manipulator Y-direction electric sliding table 23, a clamping two-finger manipulator Z-direction electric sliding table 24 and a clamping two-finger manipulator 27; an X-direction electric sliding table 22 of a clamping two-finger manipulator is mounted on the table top of the workbench 14 through screws, a Y-direction electric sliding table 23 of the clamping two-finger manipulator is mounted on the X-direction electric sliding table 22 of the clamping two-finger manipulator, a Z-direction electric sliding table 24 of the clamping two-finger manipulator is mounted on the Y-direction electric sliding table 23 of the clamping two-finger manipulator through screws, a steering driving motor 25 of the clamping two-finger manipulator is mounted on the Z-direction electric sliding table 24 of the clamping two-finger manipulator through screws, a shaft connector 26 of the clamping two-finger manipulator is sleeved on a shaft of the steering driving motor 25 of the clamping two-finger manipulator, a 27 of the clamping two-finger manipulator is mounted on the shaft connector 26 of the clamping two-finger manipulator through screws, two optical shafts with the diameter of 6mm and the length of 80mm are respectively welded at two finger positions of the clamping two fingers of the clamping two-finger manipulator 27 to serve as fingers, the X-direction electric sliding table 22, the clamping two-finger manipulator 22, The motion directions of the Y-direction electric sliding table 23 and the Z-direction electric sliding table 24 of the clamping two-finger manipulator are vertical to each other;
the cutting mechanism comprises a laser cutting head X, an electric sliding table 28, a laser cutting head Y, an electric sliding table 29 and a laser cutting headA Z-direction electric sliding table 30, a laser cutting head steering driving motor 31, a laser cutting head shaft connector 32, a laser cutting head fixing part 33 and a laser cutting head 34; the X-direction electric sliding table 28 of the laser cutting head is arranged on the bottom surface of the top plate 13 through screws, the top plate 13 is connected with the vertical plate 12 through a reinforced connecting plate through screws, the Y-direction electric sliding table 29 of the laser cutting head is arranged on the X-direction electric sliding table 28 of the laser cutting head through screws, the Z-direction electric sliding table 30 of the laser cutting head is arranged on the Y-direction electric sliding table 29 of the laser cutting head through screws, a steering driving motor 31 of the laser cutting head is arranged on the Z-direction electric sliding table 30 of the laser cutting head through screws, a shaft connector 32 of the laser cutting head is sleeved on a shaft of the steering driving motor 31 of the laser cutting head, and a fixing part 33 of the laser cutting head is connected with the shaft connector 32 of the laser cutting head and the laser cutting head 34 through screws; the computer 1 processes a side view image of the linen sheet shot by the industrial camera 5, b top view image of the linen sheet shot by the industrial camera 35 and the information of the cutting boundary position of the linen head of the linen sheet to be cut, and obtains the three-dimensional motion track information of the laser cutting head 34. When the cutting boundary is a straight line segment, the cutting boundary consists of a straight line segment from a boundary point Z1 to Z2 of the left edge leftover material 37 of the linen pad and a straight line segment from a boundary point Y1 to Y2 of the right edge leftover material 38 of the linen pad, and the total length value L of the straight line segments is0Selecting 42.4 mm; when the cutting boundary is an arc segment, the cutting boundary consists of the arc segment from the boundary point Z1 to Z2 of the left leftover material 37 of the linen pad and the arc segment from the boundary point Y1 to Y2 of the right leftover material 38 of the linen pad, and the total length value L of the arc segments is066.6mm was selected. According to the three-dimensional motion track information of the laser cutting head 34, the computer 1 sends a driving instruction to the c control driver 4 through a cable, the c control driver 4 drives the corresponding control signal to drive the laser cutting head X to horizontally move 40mm according to 20mm/s towards the direction of the electric sliding table 28 towards the long connecting plate 11, the laser cutting head Y horizontally moves 64 mm according to 40mm/s towards the direction of the electric sliding table 29 towards the industrial camera 5, the laser cutting head Z downwards moves 10mm according to 20mm/s towards the electric sliding table 30, the laser cutting head rotates 6 degrees clockwise towards the shaft of the driving motor 31, when the laser cutting head 34 reaches a side boundary point Z1 of a left corner material 37 of a lining sheet, the optical gate is opened, and 500W laser emitted by a fiber laser is transmitted from the laser cutting head through a fiber laser34 is emitted out of a boundary point Z1 on one side of a left leftover material 37 of a brake sheet, simultaneously, a laser cutting head Y horizontally moves towards the electric sliding table 29 towards the direction far away from the industrial camera 5 according to 20mm/s, a laser cutting head X horizontally moves towards the electric sliding table 28 towards the long connecting plate 11 according to 20mm/s, the laser cutting head Z moves upwards towards the electric sliding table 30 according to 2mm/s, a shaft of the laser cutting head turning driving motor 31 rotates anticlockwise at a turning angular speed of 1 DEG/s, when the laser cutting head 34 reaches a boundary point Z2 on the other side of the left leftover material 37 of the brake sheet, the action of cutting the left leftover material 37 of the brake sheet is completed, the optical gate is closed, the laser cutting head X stops moving towards the electric sliding table 28 and the laser cutting head Z towards the electric sliding table 30, the shaft of the laser cutting head turning driving motor 31 stops rotating, and the laser cutting head Y continuously moves 24mm horizontally towards the direction far away from the industrial camera 5 according to 20mm/s, when the laser cutting head reaches a boundary point Y1 of a right leftover material 38 of a lining, a shutter is opened, 500W laser emitted by a fiber laser is emitted from the lower part of a laser cutting head 34 to a point Y1, meanwhile, the laser cutting head Y horizontally moves towards an electric sliding table 29 towards a direction far away from an industrial camera 5 according to 20mm/s, the laser cutting head X horizontally moves towards the electric sliding table 28 towards the direction far away from a long connecting plate 11 according to 20mm/s, the laser cutting head Z downwards moves towards the electric sliding table 30 according to 2mm/s, and a shaft of a steering driving motor 31 of the laser cutting head rotates clockwise at a steering angular speed of 1 degree/s. When the laser cutting head 34 reaches the boundary point Y2 on the other side of the right linen leftover 38, the motion of cutting the right linen leftover 38 is completed, the optical gate is closed, the laser cutting head X stops moving towards the electric sliding table 28, the laser cutting head Y stops moving towards the electric sliding table 29 and the laser cutting head Z stops moving towards the electric sliding table 30, and the laser cutting head turns towards the shaft of the driving motor 31 to stop rotating. The c control driver 4 drives the laser cutting head X to the electric sliding table 28, the laser cutting head Y to the electric sliding table 29, the laser cutting head Z to the electric sliding table 30, and the laser cutting head steering driving motor 31 to reset. a, controlling the driver 2 to drive the left corner manipulator 18 to release the left corner material 37 of the linen, and controlling the right corner manipulator 20 to release the right corner material 38 of the linen, so that the cut left corner material 37 of the linen and the cut right corner material 38 of the linen fall into the waste bin 8 of the linen, and the collection of the cut left corner material of the linen is completed. b controlling the driver 3 to drive and clamp the two-finger manipulator YAnd horizontally moving the electric sliding table 23 by 10mm at 40mm/s in the direction of the industrial camera 5, enabling the two clamping mechanical hands 27 to clamp the cut main materials 39 of the linen pad to reach the upper part of the inclined plate 15, loosening the two clamping mechanical hands 27, enabling the main materials 39 of the linen pad to fall on the inclined plate 15 and slide into the feed box 16, and finishing the collection of the cut main materials of the linen pad. This process can greatly improve the cutting accuracy.
The control system comprises a computer 1, an a control driver 2, a b control driver 3, a c control driver 4, an a industrial camera 5, a stand column 6, a camera base 7, a b industrial camera 35 and a b industrial camera support frame 36; the method comprises the following steps that a, an industrial camera 5 is installed on a stand column 6, the stand column 6 is installed on a camera base 7, and the industrial camera 5 transmits a shot side view image of a linen to the computer 1 through a cable; after the control system is powered on, the computer 1 initializes the position information of the cutting boundary of the stub bar, namely, the position information of points Z1, Z2, Y1 and Y2 on two straight line segments or two circular arc segments and corresponding segments of the cutting boundary is given, and the total length value L of the two straight line segments or the two circular arc segments is set0The range of (1) is 30-120 mm. The control driver 2 a, the control driver 3 b and the control driver 4 c are used for controlling the driving parameters of the driver 3 c and the control driver 4 c, the computer 1 sends a driving command to the control driver 3 b through a cable to control the clamping two-finger manipulator 27 to loosen, and the clamping two-finger manipulator X resets to the electric sliding table 22, the clamping two-finger manipulator Y resets to the electric sliding table 23, the clamping two-finger manipulator Z resets to the electric sliding table 24 and the clamping two-finger manipulator steering driving motor 25. When the head end of a piece of linen to be cut with the thickness of 7.4mm and the width of 54mm is manually placed between two fingers of the left corner manipulator 18 and two fingers of the right corner manipulator 20, and one side of the point Y2 of the right corner linen 38 of the piece of linen is placed close to the right corner manipulator connecting plate 19, a button for starting cutting is pressed, the computer 1 sends a driving instruction to the control driver 2 through a cable to drive the clamping fingers of the left corner manipulator 18 and the right corner manipulator 20 to close, so that the left corner manipulator 18 is firmly positioned and clamped with the left corner linen 37 of the piece of linen, and the right corner manipulator 20 is firmly positioned and clamped with the right corner linen 38 of the piece of linen. a side view image of the linen is shot by the industrial camera 5, the image is transmitted to the computer 1 through the cable, and the computer 1 carries out image binaryzation and filteringAfter obtaining pixels occupied by the arc length, obtaining actual arc length information of a part of a piece of the piece under X and Z coordinates and position information of the piece to be clamped by the two-finger clamping manipulator 27 by utilizing the proportion of the length of the scale at the position where the piece of the piece is actually placed to the pixels occupied by the scale in the image, sending a driving instruction to the b control driver 3 by the computer 1 through a cable, driving the two-finger clamping manipulator X to horizontally move 230 mm at 200mm/s in the direction from the electric sliding table 22 to the long connecting plate 11 by the b control driver 3, horizontally moving 10mm at 40mm/s in the direction from the electric sliding table 23 to the industrial camera 5 a by the two-finger clamping manipulator Y, horizontally moving 195 mm at 200mm/s in the upward direction from the electric sliding table 24 by the two-finger clamping manipulator Z, rotating the shaft of the two-finger clamping manipulator to the driving motor 25 by 20 degrees clockwise, and clamping the two-finger manipulator 27 to clamp the position 60mm away from the right corner manipulator 20 to clamp the piece of the piece. In the process, the fulcrum opening and closing type left corner manipulator 18 and the fulcrum opening and closing type right corner manipulator 20 are respectively used for positioning and clamping a material head area of the linen pad, and the parallel opening and closing type two-finger clamping manipulator 27 is used for positioning and clamping a main material area of the linen pad, so that a stable clamping state for the linen pad is formed, the processing jitter is eliminated, and the manual labor intensity is reduced. The b industrial camera 35 is arranged on the b industrial camera support 36, and the b industrial camera support 36 is arranged on the vertical plate 12. After the left corner manipulator 18 and the right corner manipulator 20 are used for respectively positioning and clamping a stub bar area of a lining and clamping a main material area of the lining by the two clamping manipulators 27, b the industrial camera 35 shoots an overhead image of the lining and transmits the image to the computer 1 through a cable, the computer 1 carries out image binarization and filtering to obtain pixels occupied by the overhead image area of the lining, then the actual position information of the part of the lining under Y and X coordinates is obtained by utilizing the length of a scale at the position where the lining is actually placed in the area and the proportion of the scale in the image, and then the actual arc length information of the stub bar of the lining is obtained according to the X and Z coordinates obtained after the computer 1 processes the side view image of the lining, so that the three-dimensional position information of the stub bar of the lining is obtained, and manual measurement is replaced;
as shown in fig. 3(a) and 3(b), fig. 3(a) is a top view of a piece of linen according to the embodiment of the present invention, wherein the straight line segments are used as the cutting boundaries from point Z1 to point Z2 on the cutting boundary of the left side gusset 37 of the linen, and the straight line segments are used from point Y1 to point Y2 on the cutting boundary of the right side gusset 38 of the linen, and fig. 3(b) is a side view of the piece of linen according to the embodiment of the present invention, wherein the straight line segments are used as the cutting boundaries;
as shown in fig. 4(a) and 4(b), fig. 4(a) is a top view of a linen pad using an arc segment as a cutting boundary, where points Z1 to Z2 on the cutting boundary of the left linen pad 37 and points Y1 to Y2 on the cutting boundary of the right linen pad 38 are arc segments, and fig. 4(b) is a side view of the linen pad using an arc segment as a cutting boundary;
example 2
As shown in fig. 5, a method for controlling cutting of a leftover material of a textile sheet, which uses the apparatus for cutting a leftover material of a textile sheet in embodiment 1, specifically includes the following steps:
1) the system is electrified, and the position information of the cutting boundary of the stub bar, the drive parameters of the control driver 2 a, the control driver 3 b and the control driver 4 c are initialized;
2) the clamping two-finger manipulator 27 is loosened, and the b control driver 3 drives the clamping two-finger manipulator X-direction electric sliding table 22, the clamping two-finger manipulator Y-direction electric sliding table 23, the clamping two-finger manipulator Z-direction electric sliding table 24 and the clamping two-finger manipulator steering drive motor 25 to reset;
3) after placing the linen pad manually, pressing a cutting start key;
4) the computer 1 judges whether the key for starting cutting is pressed, if so, the step 5) is carried out, otherwise, the step 4) is carried out;
5) a, controlling a driver 2 to drive a left corner manipulator 18 to position and clamp left corner materials 37 of a linen pad, and a right corner manipulator 20 to position and clamp right corner materials 38 of the linen pad;
6) a, an industrial camera 5 shoots a side view image of a linen sheet and transmits the side view image to a computer 1 through a cable, and the computer 1 processes the side view image to obtain position information of a clamping two-finger manipulator 27 to clamp the linen sheet;
7) b, controlling the driver 3 to drive the clamping two-finger manipulator X to move towards the electric sliding table 22, the clamping two-finger manipulator Y to move towards the electric sliding table 23 and the clamping two-finger manipulator Z to move towards the electric sliding table 24, and rotating a shaft of the steering drive motor 25 of the clamping two-finger manipulator to enable the clamping two-finger manipulator 27 to reach a position where a ream needs to be clamped and perform clamping action;
8) b, the industrial camera 35 shoots an overhead image of the linen sheet and transmits the overhead image to the computer 1 through a cable, and the computer 1 processes the overhead image, the overhead image and the information of the cutting boundary position of the linen sheet to be cut to obtain the three-dimensional motion track information of the laser cutting head 34;
9) c, controlling a driver 4 to drive the laser cutting head X to move towards the electric sliding table 28, the laser cutting head Y to move towards the electric sliding table 29 and the laser cutting head Z to move towards the electric sliding table 30, and rotating the laser cutting head towards the shaft of the driving motor 31, so that the laser cutting head 34 moves according to the obtained three-dimensional motion track and emits laser to be projected onto the material head of a lining sheet material, and resetting is carried out after the cutting action is finished;
10) a, controlling a driver 2 to drive a left corner manipulator 18 to release left corner materials 37 of the linen, controlling a right corner manipulator 20 to release right corner materials 38 of the linen, and enabling the cut left corner materials 37 and right corner materials 38 of the linen to fall into a waste bin 8 of the linen;
11) the clamping two-finger manipulator Y moves towards the electric sliding table 23 to enable the clamping two-finger manipulator 27 to clamp the cut main materials 39 of the linen pad to reach the upper part of the inclined plate 15, the clamping two-finger manipulator 27 is loosened, and the cut main materials 39 of the linen pad slide into the feed box 16;
12) entering step 2); the cutting of the next piece of textile leftover material is prepared.
In the above embodiments 1 and 2, the models of the a control driver 2, the b control driver 3 and the c control driver 4 are TC100, the models of the a industrial camera 5 and the b industrial camera are JHSM120B, the support plate 10 is 50mm × 15mm × 25mm, the long connecting plate 11 is 54mm × 15mm × 10mm, the vertical plate 12 is 1900mm × 600mm × 40mm, the top plate 13 is 1000mm × 600mm × 35mm, the work table 14 is 700mm × 400mm × 600mm, the tilt plate 15 is 800mm × 150mm × 2mm, the left corner robot 18 and the right corner robot 20 are KHC-10S, the clamping finger robot 27 is KP40, the models of the clamping finger X-direction electric slide 22 and the laser cutting head X-direction electric slide 28 are CTH10-L20-300, the models of the clamping finger Z-direction electric slide 24 and the laser Z-direction electric slide 30 are CTH10-L20-200, the models of the clamping two-finger manipulator Y-direction electric sliding table 23 and the laser cutting head Y-direction electric sliding table 29 are CTH10-L20-150, and the models of the steering drive motor 25 of the clamping two-finger manipulator and the steering drive motor 31 of the laser cutting head are 86BYG 0.72.
According to the driving control result of the embodiment, the device and the method for cutting the leftover materials of the linen sheets are adopted, the two fulcrum opening and closing type mechanical hands are used for respectively positioning and clamping the head of the linen sheets, and the two parallel opening and closing type mechanical hands are used for positioning and clamping the main material area of the linen sheets, so that the stable clamping state for the linen sheets is formed, the processing jitter is eliminated, and the manual labor intensity is reduced; side view images and top view images of the linen sheet shot by the industrial camera are processed through a computer to obtain three-dimensional position information of the head of the linen sheet, and manual measurement is replaced; the three-dimensional position information of the material head of the linen is processed by the computer and the cutting boundary position information of the material head of the linen to be cut is processed to obtain the three-dimensional motion track information of the laser cutting head, then the laser cutting head moves according to the track and emits laser to be projected on the material head of the linen to complete the cutting action, and the cutting accuracy is greatly improved.
The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to carry out the same, but the scope of the present invention should not be limited by the embodiments, i.e. all equivalent changes or modifications made in the spirit of the present invention are still within the scope of the present invention.

Claims (8)

1. A cutting device for leftover materials of linen sheets is characterized by comprising a vertical plate (12), a top plate (13), a workbench (14), a stub bar clamping mechanism, a main material clamping mechanism, a cutting mechanism and a control system; the two vertical plates (12) are provided, a top plate (13) is erected above the vertical plates (12), a head clamping mechanism is arranged on one vertical plate (12), a linen scrap box (8) for receiving cut linen leftover materials is arranged below the head clamping mechanism, a workbench (14) is arranged at a position close to the other vertical plate (12), a main material clamping mechanism is arranged on the workbench (14), the cutting mechanism is arranged on the bottom surface of the top plate (13), an inclined plate (15) is arranged near the workbench (14), and the output end of the inclined plate (15) is in butt joint with a bin (16) for receiving cut linen leftover materials; wherein:
the stub bar clamping mechanism comprises a supporting plate (10), a left corner manipulator (18) and a right corner manipulator (20); one side of the supporting plate (10) is connected to a vertical plate (12), the other side of the supporting plate (10) is connected to a long connecting plate (11), two ends of the long connecting plate (11) are respectively connected with a left corner manipulator (18) and a right corner manipulator connecting plate (19) through connecting pieces, the mounting directions of the left corner manipulator (18) and the right corner manipulator (20) are parallel in a horizontal position and are respectively used for clamping left corner materials and right corner materials of linen sheets;
the main material clamping mechanism comprises a clamping two-finger manipulator X-direction electric sliding table (22), a clamping two-finger manipulator Y-direction electric sliding table (23), a clamping two-finger manipulator Z-direction electric sliding table (24) and a clamping two-finger manipulator (27); the clamping double-finger manipulator X is installed on the table top of a workbench (14) towards an electric sliding table (22), the clamping double-finger manipulator Y is installed on the clamping double-finger manipulator X towards the electric sliding table (23) towards the electric sliding table (22), the clamping double-finger manipulator Z is installed on the clamping double-finger manipulator Y towards the electric sliding table (23) towards the electric sliding table (24), the clamping double-finger manipulator Z is installed on the clamping double-finger manipulator steering driving motor (25) towards the electric sliding table (24), the clamping double-finger manipulator shaft connector (26) is sleeved on the shaft of the clamping double-finger manipulator steering driving motor (25), the clamping double-finger manipulator (27) is installed on the clamping double-finger manipulator shaft connector (26), the clamping double-finger manipulator (27) is used for clamping a main material area of an linen sheet, the clamping double-finger manipulator X is towards the electric sliding table (22), the clamping double-finger manipulator Y is towards the electric sliding table (23) and the moving direction of the clamping double-finger manipulator Z towards the electric sliding table (24) two-finger manipulator (ii) a
The cutting mechanism comprises a laser cutting head X-direction electric sliding table (28), a laser cutting head Y-direction electric sliding table (29), a laser cutting head Z-direction electric sliding table (30) and a laser cutting head (34); the laser cutting head X is arranged on the bottom surface of the top plate (13) towards the electric sliding table (28), the top plate (13) is connected with the vertical plate (12), the laser cutting head Y is arranged on the laser cutting head X towards the electric sliding table (28) towards the electric sliding table (29), the laser cutting head Z is arranged on the laser cutting head Y towards the electric sliding table (29) towards the electric sliding table (30), a laser cutting head steering driving motor (31) is arranged on the laser cutting head Z towards the electric sliding table (30), a laser cutting head shaft connector (32) is sleeved on the shaft of the laser cutting head steering driving motor (31), the laser cutting head shaft connector (32) is connected with the laser cutting head (34) through a laser cutting head fixing part (33), the X-direction electric sliding table (28) of the laser cutting head, the Y-direction electric sliding table (29) of the laser cutting head and the Z-direction electric sliding table (30) of the laser cutting head are perpendicular to each other in the movement direction;
the control system comprises a computer (1), a control driver (2), b control driver (3), c control driver (4), a industrial camera (5) and b industrial camera (35); the industrial camera (5) is used for shooting side view images of the linen, and the industrial camera (5) is connected with the computer (1) through a cable; the computer (1) sends a driving instruction to the control driver (2) a through a cable, the control driver (2) a generates a corresponding control signal to drive the left corner manipulator (18) and the right corner manipulator (20), so that the left corner manipulator (18) is positioned and clamped to clamp left corner materials (37) of a lining, and the right corner manipulator (20) is positioned and clamped to clamp right corner materials (38) of the lining; the computer (1) obtains position information of a clamping two-finger manipulator (27) to clamp a brake sheet according to a side view image of the brake sheet shot by an industrial camera (5), the computer (1) sends a driving instruction to a control driver (3) through a cable, generates a corresponding control signal to drive the clamping two-finger manipulator X to move to an electric sliding table (22), the clamping two-finger manipulator Y to move to the electric sliding table (23) and the clamping two-finger manipulator Z to move to the electric sliding table (24) and the clamping two-finger manipulator Z to rotate around the axis of a steering driving motor (25), so that the clamping two-finger manipulator (27) reaches the position where the brake sheet is required to be clamped and performs clamping action; the b industrial camera (35) is used for shooting a top view image of the linen, and the b industrial camera (35) is connected with the computer (1) through a cable; the computer (1) obtains three-dimensional position information of a material head of a linen sheet according to a side view image of the linen sheet shot by an industrial camera (5) and a top view image of the linen sheet shot by an industrial camera (35), then obtains three-dimensional motion track information of the laser cutting head (34) according to the material head cutting boundary position information of the linen sheet to be cut, the computer (1) sends a driving instruction to the c control driver (4) through a cable, generates a corresponding control signal to drive the laser cutting head X to the electric sliding table (28), the laser cutting head Y moves towards the electric sliding table (29) and the laser cutting head Z to the electric sliding table (30) and the laser cutting head rotates towards the shaft of the driving motor (31), and the laser cutting head (34) moves according to the obtained three-dimensional motion track and sends laser to be projected on the material head of the linen sheet to complete cutting action.
2. The apparatus for cutting off the leftover material of the linen sheet as set forth in claim 1, wherein: in the stub bar clamping mechanism, the length selection range of a long connecting plate (11) is 40-160 mm, a left corner manipulator (18) and a right corner manipulator (20) are of a fulcrum opening and closing type, and the selection range of the distance between two clamping fingers after the clamping fingers are closed is 0-12 mm.
3. The apparatus for cutting off the leftover material of the linen sheet as set forth in claim 1, wherein: in the main material clamping mechanism, a clamping two-finger manipulator (27) is of a parallel opening and closing type, the stroke selection range of an X-direction electric sliding table (22) of the clamping two-finger manipulator is 0-300 mm, the stroke selection range of a Y-direction electric sliding table (23) of the clamping two-finger manipulator is 0-150 mm, the stroke selection range of a Z-direction electric sliding table (24) of the clamping two-finger manipulator is 0-200 mm, the steering angle selection range of a steering driving motor (25) of the clamping two-finger manipulator is 0-90 degrees, and the selection range of the clamping finger width of the clamping two-finger manipulator is 4-30 mm.
4. The apparatus for cutting off the leftover material of the linen sheet as set forth in claim 1, wherein: in the cutting mechanism, the range of selecting the stroke of the laser cutting head X to the electric sliding table (28) is 0-300 mm, the range of selecting the stroke of the laser cutting head Y to the electric sliding table (29) is 0-150 mm, the range of selecting the stroke of the laser cutting head Z to the electric sliding table (30) is 0-200 mm, the range of selecting the steering angle speed of the laser cutting head steering driving motor (31) is 0.1-10 degrees/s, and the range of selecting the laser power accessed into the laser cutting head (34) through an optical fiber is 200-1000W.
5. A method for controlling a device for cutting off textile leftover bits and pieces according to claim 1, comprising the following steps:
1) the system is powered on, and driving parameters of the stub bar cutting boundary position information, the control driver (2) a, the control driver (3) b and the control driver (4) c are initialized;
2) the clamping two-finger manipulator (27) is loosened, and the b control driver (3) drives the clamping two-finger manipulator X-direction electric sliding table (22), the clamping two-finger manipulator Y-direction electric sliding table (23), the clamping two-finger manipulator Z-direction electric sliding table (24) and the clamping two-finger manipulator steering drive motor (25) to reset;
3) after placing the lining sheet manually, pressing a cutting start key;
4) the computer (1) judges whether a key for starting cutting is pressed down, if so, the step 5) is carried out, and if not, the step 4) is carried out;
5) a, controlling a driver (2) to drive a left corner manipulator (18) to position and clamp left corner materials (37) of a linen pad, and controlling a right corner manipulator (20) to position and clamp right corner materials (38) of the linen pad;
6) a, an industrial camera (5) shoots a side view image of a linen sheet and transmits the side view image to a computer (1) through a cable, and the computer (1) processes the side view image to obtain the position information of a clamping two-finger manipulator (27) to clamp the linen sheet;
7) b, controlling a driver (3) to drive the clamping two-finger manipulator X to move towards the electric sliding table (22), the clamping two-finger manipulator Y to move towards the electric sliding table (23) and the clamping two-finger manipulator Z to move towards the electric sliding table (24), and rotating a shaft of a steering drive motor (25) of the clamping two-finger manipulator to enable the clamping two-finger manipulator (27) to reach a position where a brake sheet needs to be clamped and perform clamping action;
8) b, shooting a top view image of the linen sheet by the industrial camera (35) and transmitting the top view image to the computer (1) through a cable, wherein the computer (1) processes the side view image, the top view image and the information of the cutting boundary position of the material head of the linen sheet to be cut to obtain the three-dimensional motion track information of the laser cutting head (34);
9) c, controlling a driver (4) to drive the laser cutting head X to move towards the electric sliding table (28), the laser cutting head Y to move towards the electric sliding table (29) and the laser cutting head Z to move towards the electric sliding table (30), and rotating a shaft of a laser cutting head steering driving motor (31), so that the laser cutting head (34) moves according to the obtained three-dimensional motion track and emits laser to be projected onto a material head of a lining sheet, and resetting after cutting action is finished;
10) a, controlling a driver (2) to drive a left corner manipulator (18) to loosen left corner materials (37) of a linen pad, controlling a right corner manipulator (20) to loosen right corner materials (38) of the linen pad, and enabling the cut left corner materials (37) and right corner materials (38) of the linen pad to fall into a waste box (8) of the linen pad;
11) the clamping two-finger manipulator Y moves towards the electric sliding table (23) to enable the clamping two-finger manipulator (27) to clamp the cut main materials (39) of the linen pad to reach the upper part of the inclined plate (15), the clamping two-finger manipulator (27) is loosened, and the cut main materials (39) of the linen pad slide into the feed box (16);
12) step 2) is entered.
6. The control method according to claim 5, characterized in that: in the step 1), initializing the position information of the cutting boundary of the stub bar, selecting a straight line segment or a circular arc line segment as the cutting boundary, and setting the total length value L of the straight line segment or the circular arc line segment0The selection range of (A) is 30-120 mm.
7. The control method according to claim 5, characterized in that: in the step (6), the computer (1) carries out image binarization and filtering to obtain pixels occupied by arc length, and then obtains the actual arc length information of the part of the brake sheet under X and Z coordinates and the position information of the brake sheet to be clamped by the clamping two-finger manipulator (27) by utilizing the proportion of the length of the scale at the position where the brake sheet is actually placed and the pixels occupied by the scale in the image.
8. The control method according to claim 5, characterized in that: in the step (8), the computer (1) performs image binarization and filtering to obtain pixels occupied by a top view image area of the lining sheet, then obtains the actual position information of the part of the lining sheet under Y and X coordinates by utilizing the length of a scale at the position of the area where the lining sheet is actually placed and the proportion of the scale in the image to the pixels, and then obtains the actual arc length information of the head of the lining sheet according to the X and Z coordinates obtained after the computer (1) processes the side view image of the lining sheet, thereby obtaining the three-dimensional position information of the head of the lining sheet.
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