CN113733375A - Stone carving method and system based on robot - Google Patents
Stone carving method and system based on robot Download PDFInfo
- Publication number
- CN113733375A CN113733375A CN202111154484.1A CN202111154484A CN113733375A CN 113733375 A CN113733375 A CN 113733375A CN 202111154484 A CN202111154484 A CN 202111154484A CN 113733375 A CN113733375 A CN 113733375A
- Authority
- CN
- China
- Prior art keywords
- robot
- control
- signal
- file
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/30—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor to form contours, i.e. curved surfaces, irrespective of the method of working used
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Mining & Mineral Resources (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a stone carving processing method and a stone carving processing system based on a robot, which relate to the field of stone processing, and the method comprises the following steps: the human-computer operation interface receives the control instruction and sends the control instruction to the programmable controller; the programmable controller receives the control instruction, generates a corresponding control signal and sends the control signal to a control device; and the control device controls the robot to execute the operation associated with the control signal so as to finish stone carving. The invention is suitable for the control of the processing of various stone carving robots, and solves the problems that the stone carving robot has high requirement on the skill level of practitioners and the stone processing efficiency is low.
Description
Technical Field
The invention relates to the field of stone processing, in particular to a stone carving processing method and system based on a robot.
Background
The stone carving technique is developed from thousands of years ago to the present, however, the traditional stone carving processing environment is relatively bad, dust noise is large, the stone carving is harmful to the body, and practitioners often suffer from occupational diseases, so that the stone carving industry is lack of young inheritors at present. In order to improve the current development dilemma of the stone carving industry, the numerical control carving technology is gradually applied by the industry. Due to the freedom degree and the flexibility, the robot is very suitable for being applied to large-scale complicated curved surface three-dimensional stone carving, and is an important development direction of stone machinery in the future.
Due to the complexity of the robot system and the variety of stone carving, the stone carving robot has a higher threshold for practitioners to use, and the robot manufacturer system in the current market does not carry out corresponding optimization design on stone processing, so that the current situations of low stone processing efficiency and low automation degree of the robot are caused, and the popularization of the robot in the field of stone carving is limited.
Disclosure of Invention
The invention aims to provide a stone carving processing method and a stone carving processing system based on a robot, which solve the problems that a stone carving robot has high requirement on skill level of a practitioner and low stone processing efficiency, and can reduce the possibility of danger of an operator in the robot processing process. In addition, the invention also provides a corresponding operating software interface.
The invention adopts the following technical scheme:
in one aspect, a robot-based stone carving method includes:
the human-computer operation interface receives the control instruction and sends the control instruction to the programmable controller;
the programmable controller receives the control instruction, generates a corresponding control signal and sends the control signal to a control device;
and the control device controls the robot to execute the operation associated with the control signal so as to finish stone carving.
Preferably, the processing process specifically comprises:
receiving a power-on control instruction, and controlling the robot to be powered on;
receiving a workpiece positioning control instruction, controlling the robot to touch the workpiece at different postures, and acquiring the geometric and spatial position information of the workpiece;
receiving a tool setting control instruction, controlling a robot to touch a tool setting gauge along a preset track, performing difference operation and compensating to obtain the current actual tool length;
receiving a file loading control instruction, importing a corresponding processing file, and controlling the robot to perform engraving based on the processing file;
receiving one or more of a start control signal, a stop control signal, an emergency stop control signal, a restart control signal, a tool magazine control signal, an electric spindle control signal, and a coolant switch control signal to control a machining state of the robot;
and receiving a power-off control command, and controlling the power-off of the robot.
Preferably, the controlling the robot touches the workpiece in different postures to acquire the geometric and spatial position information of the workpiece, and specifically includes controlling the robot to perform the following operations:
the workpiece is touched according to the first preset track motion, and a signal is triggered;
stopping movement and obtaining the coordinates of the current point through the end effector;
the trigger signal obtains a return instruction and returns to a safety point according to a second preset track;
continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
based on the obtained coordinates of different positions, relative position relation operation is carried out to obtain the geometric and spatial position information of the workpiece;
and returning to the trigger point according to a third preset track.
Preferably, the control robot touches the tool setting gauge along a predetermined track, performs difference operation and compensates to obtain the current actual tool length, and specifically includes the control robot executing the following operations:
touching the tool setting gauge according to a fourth preset track to trigger a signal;
stopping movement and obtaining the coordinates of the current point;
performing difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and the trigger signal obtains a return instruction and returns to the starting point according to a fifth preset track.
Preferably, the importing a corresponding processing file and controlling the robot to perform engraving based on the processing file specifically include the following operations:
selecting a loading file;
associating the signal to the load file;
and triggering an associated signal to call the loading file.
On the other hand, the stone carving processing system based on the robot comprises a man-machine operation interface, a programmable controller, a control device and the robot; the human-computer operation interface is used for receiving a control instruction and sending the control instruction to the programmable controller; the programmable controller is used for receiving the control instruction, generating a corresponding control signal and sending the control signal to the control device; and the control device is used for controlling the robot to execute the operation associated with the control signal so as to finish stone carving.
Preferably, the control instructions include workpiece positioning; the programmable controller sends a workpiece positioning control signal to the control device, and the control device controls the robot to execute the workpiece positioning module; the workpiece positioning module is used for realizing the following functions:
the workpiece is touched according to the first preset track motion, and a signal is triggered;
stopping movement and obtaining the coordinates of the current point through the end effector;
the trigger signal obtains a return instruction and returns to a safety point according to a second preset track;
continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
based on the obtained coordinates of different positions, relative position relation operation is carried out to obtain the geometric and spatial position information of the workpiece;
and returning to the trigger point according to a third preset track.
Preferably, the control instruction comprises tool setting; the programmable controller sends a tool setting control signal to the control device, and the control device controls the robot to execute the tool setting module; the tool setting module is used for realizing the following functions:
touching the tool setting gauge according to a fourth preset track to trigger a signal;
stopping movement and obtaining the coordinates of the current point;
performing difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and the trigger signal obtains a return instruction and returns to the starting point according to a fifth preset track.
Preferably, the control instruction comprises a loading file; the programmable controller sends a file loading control signal to the control device, and the control device controls the robot to execute a file loading module; the file loading module is used for realizing the following functions:
selecting a loading file;
associating the signal to the load file;
and triggering an associated signal to call the loading file.
Preferably, the human-computer operation interface communicates with the programmable controller through an Ethernet protocol; the programmable controller is communicated with the control device through a Profinet protocol; the control device is a robot control cabinet, the programmable controller sends a control signal to the robot control cabinet, and the robot control cabinet executes corresponding operation through a signal mapping relation.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
(1) the stone carving processing method and the stone carving processing system based on the robot solve the problems that a stone carving robot has high requirements on skill level of practitioners and low stone processing efficiency, and can reduce the possibility of danger of operators in the robot processing process;
(2) the man-machine operation interface provides an operation software interface corresponding to the control system, and an operator can trigger a control instruction only by clicking a button or other modes, so that the operation is simple and convenient;
(3) according to the tool setting instruction (tool setting module) disclosed by the invention, the self-adaptive transformation of robot joint spaces in different tool lengths in the machining process can be realized, the machining efficiency is improved, the machining precision is ensured, and in addition, the tool setting operation is safe and convenient through automatic control, and the tool setting instruction is easy to operate and use;
(4) according to the workpiece positioning instruction (workpiece positioning module), the geometric parameters of workpiece materials with different sizes before machining can be recognized, the relative position relation of the workpiece relative to the machining platform of the robot is obtained, the step of manual measurement is replaced, the measurement efficiency is improved, the measurement precision is improved, and the automation degree of the machining of the robot is improved;
(5) the file loading instruction (file loading module) can realize automatic calling of the processing file, and one-key operation can greatly facilitate processing by a practitioner using a stone carving robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a process of the present invention;
FIG. 2 is a schematic view of a human-machine interface according to the present invention;
FIG. 3 is a detailed flow chart of the process of the present invention;
FIG. 4 is a flow chart of the workpiece positioning of the present invention;
FIG. 5 is a tool setting flow diagram of the present invention;
FIG. 6 is a flow chart of loading files according to the present invention;
fig. 7 is a block diagram of the control system of the present invention.
Detailed Description
The invention is further described below by means of specific embodiments. It should be noted that the specific embodiments described herein are only for convenience of describing and explaining specific embodiments of the present invention, and are not intended to limit the present invention.
Referring to fig. 1, the invention relates to a stone carving method based on a robot, which comprises the following steps:
s101, receiving a control instruction by a human-computer operation interface and sending the control instruction to a programmable controller;
s102, the programmable controller receives the control instruction, generates a corresponding control signal and sends the control signal to a control device;
and S103, the control device controls the robot to execute the operation related to the control signal, and the stone carving processing is completed.
In the implementation method, the human-computer operation interface is Sukong HMI, the programmable controller is SIMATIC S7-300, and the robot is an ABB IRB 1200 model robot.
Referring to fig. 2, a schematic view of the human-machine interface according to the present invention is shown (it should be noted that only a part of the control commands are output in the figure). Specifically, the control instructions that can be triggered by the human-computer interface include a start control instruction, a stop control instruction, an emergency stop control instruction, a restart control instruction, an electrifying control instruction, a powering-down control instruction, a tool magazine control instruction, an electric spindle control signal, a coolant switch control instruction, and the like, and further include a tool setting control instruction, a workpiece positioning control instruction, a file loading control instruction, and the like (which control signals are required to be set according to needs, which is not specifically limited in this embodiment).
Specifically, referring to fig. 3, the stone carving method based on the robot of the present invention specifically includes:
s301, receiving a power-on control instruction, and controlling the robot to be powered on;
s302, receiving a workpiece positioning control instruction, controlling the robot to touch the workpiece in different postures, and acquiring geometric and spatial position information of the workpiece;
s303, receiving a tool setting control instruction, controlling the robot to touch the tool setting gauge along a preset track, performing difference operation and compensating to obtain the current actual tool length;
s304, receiving a file loading control instruction, importing a corresponding processing file, and controlling the robot to perform engraving based on the processing file;
s305, receiving one or more of a start control signal, a stop control signal, an emergency stop control signal, a restart control signal, a magazine control signal, an electric spindle control signal, and a coolant switch control signal to control a machining state of the robot;
and S306, receiving a power-off control command and controlling the robot to power off.
The geometric parameters of workpiece materials with different sizes before processing can be identified by workpiece positioning, the relative position relation of the workpiece relative to the robot processing platform is obtained, the manual measurement step is replaced, the measurement efficiency is improved, the measurement precision is improved, and the improvement of the automation degree of robot processing is facilitated
Referring to fig. 4, the workpiece positioning execution process of the present invention includes:
s401, touching a workpiece according to a first preset track motion, and triggering a signal;
s402, stopping movement and obtaining the coordinates of the current point through the end effector;
s403, triggering a signal to obtain a return instruction, and returning to a safety point according to a second preset track;
s404, continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
s405, based on the obtained different position coordinates, performing relative position relation operation to obtain geometric and spatial position information of the workpiece;
and S406, returning to the trigger point according to a third preset track.
The tool setting can realize the self-adaptive transformation of the robot joint space when different tool lengths are used in the machining process, the machining efficiency is improved, the machining precision is ensured, and in addition, the tool setting operation is safe and convenient through automatic control, and the tool setting device is easy to operate and use.
Referring to fig. 5, the tool setting execution process of the present invention includes:
s501, touching a tool setting gauge according to a fourth preset track to trigger a signal;
s502, stopping movement and acquiring coordinates of a current point;
s503, carrying out difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and S504, triggering a signal to obtain a return instruction, and returning to the starting point according to a fifth preset track.
The automatic calling of the processing file can be realized by loading the file, and the one-key operation can greatly facilitate the processing of a practitioner by using a stone carving robot.
Referring to fig. 6, the process of loading files of the present invention includes:
s601, selecting a loading file;
s602, associating signals to a loading file;
and S603, triggering the associated signal to call the loading file.
Referring to fig. 7, a stone engraving system based on a robot includes a human-machine interface 701, a programmable controller 702, a control device 703 and a robot 704; the human-machine operation interface 701 is used for receiving a control instruction and sending the control instruction to the programmable controller 702; the programmable controller 702 is configured to receive the control instruction, generate a corresponding control signal, and send the control signal to the control device 703; the control device 703 is configured to control the robot 704 to perform an operation associated with the control signal, so as to complete the stone carving process.
In this embodiment, the control command includes workpiece positioning; the programmable controller 702 sends a workpiece positioning control signal to the control device 703, and the control device 703 controls the robot 704 to execute a workpiece positioning module; the workpiece positioning module is used for realizing the following functions:
the workpiece is touched according to the first preset track motion, and a signal is triggered;
stopping movement and obtaining the coordinates of the current point through the end effector;
the trigger signal obtains a return instruction and returns to a safety point according to a second preset track;
continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
based on the obtained coordinates of different positions, relative position relation operation is carried out to obtain the geometric and spatial position information of the workpiece;
and returning to the trigger point according to a third preset track.
In this embodiment, the control instruction includes tool setting; the programmable controller 702 sends a tool setting control signal to the control device 703, and the control device 703 controls the robot 704 to execute a tool setting module; the tool setting module is used for realizing the following functions:
touching the tool setting gauge according to a fourth preset track to trigger a signal;
stopping movement and obtaining the coordinates of the current point;
performing difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and the trigger signal obtains a return instruction and returns to the starting point according to a fifth preset track.
In this embodiment, the control instruction includes a load file; the programmable controller 702 sends a file loading control signal to the control device 703, and the control device 703 controls the robot 704 to execute a file loading module; the file loading module is used for realizing the following functions:
selecting a loading file;
associating the signal to the load file;
and triggering an associated signal to call the loading file.
In this embodiment, the human-machine interface 701 communicates with the programmable controller 702 through an Ethernet protocol; the programmable controller 702 communicates with the control device 703 via Profinet protocol; the control device 703 is a robot control cabinet, the programmable controller 702 sends a control signal to the robot control cabinet, and the robot control cabinet executes corresponding operations according to a signal mapping relationship.
The stone carving processing method and system based on the robot realize automation of stone carving processing, thereby replacing the existing semi-automatic operation mode, solving the problem of higher skill level of operators and avoiding the possibility of danger of the operators near the robot.
The present invention has been described above by way of a specific embodiment, but the design concept of the present invention is not limited thereto, and any insubstantial modification of the present invention using this concept shall fall within the scope of infringing on the scope of the present invention.
Claims (10)
1. A stone carving processing method based on a robot is characterized by comprising the following steps:
the human-computer operation interface receives the control instruction and sends the control instruction to the programmable controller;
the programmable controller receives the control instruction, generates a corresponding control signal and sends the control signal to a control device;
and the control device controls the robot to execute the operation associated with the control signal so as to finish stone carving.
2. The robot-based stone engraving method of claim 1, wherein the process specifically comprises:
receiving a power-on control instruction, and controlling the robot to be powered on;
receiving a workpiece positioning control instruction, controlling the robot to touch the workpiece at different postures, and acquiring the geometric and spatial position information of the workpiece;
receiving a tool setting control instruction, controlling a robot to touch a tool setting gauge along a preset track, performing difference operation and compensating to obtain the current actual tool length;
receiving a file loading control instruction, importing a corresponding processing file, and controlling the robot to perform engraving based on the processing file;
receiving one or more of a start control signal, a stop control signal, an emergency stop control signal, a restart control signal, a tool magazine control signal, an electric spindle control signal, and a coolant switch control signal to control a machining state of the robot;
and receiving a power-off control command, and controlling the power-off of the robot.
3. The robot-based stone carving processing method of claim 2 wherein the controlling robot touches the workpiece at different poses to obtain the geometric and spatial position information of the workpiece, specifically comprising controlling the robot to perform the following operations:
the workpiece is touched according to the first preset track motion, and a signal is triggered;
stopping movement and obtaining the coordinates of the current point through the end effector;
the trigger signal obtains a return instruction and returns to a safety point according to a second preset track;
continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
based on the obtained coordinates of different positions, relative position relation operation is carried out to obtain the geometric and spatial position information of the workpiece;
and returning to the trigger point according to a third preset track.
4. The robot-based stone carving processing method of claim 2, wherein the controlling the robot touches the tool setting gauge with a predetermined trajectory, performs a difference operation and compensates to obtain a current actual tool length, and specifically comprises controlling the robot to perform the following operations:
touching the tool setting gauge according to a fourth preset track to trigger a signal;
stopping movement and obtaining the coordinates of the current point;
performing difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and the trigger signal obtains a return instruction and returns to the starting point according to a fifth preset track.
5. The robot-based stone carving processing method of claim 2, wherein the importing of the corresponding processing file and the controlling of the robot based on the processing file comprises the following operations:
selecting a loading file;
associating the signal to the load file;
and triggering an associated signal to call the loading file.
6. A stone carving processing system based on a robot is characterized by comprising a man-machine operation interface, a programmable controller, a control device and the robot; the human-computer operation interface is used for receiving a control instruction and sending the control instruction to the programmable controller; the programmable controller is used for receiving the control instruction, generating a corresponding control signal and sending the control signal to the control device; and the control device is used for controlling the robot to execute the operation associated with the control signal so as to finish stone carving.
7. The robot-based stone engraving system of claim 6, wherein the control instructions include workpiece positioning; the programmable controller sends a workpiece positioning control signal to the control device, and the control device controls the robot to execute the workpiece positioning module; the workpiece positioning module is used for realizing the following functions:
the workpiece is touched according to the first preset track motion, and a signal is triggered;
stopping movement and obtaining the coordinates of the current point through the end effector;
the trigger signal obtains a return instruction and returns to a safety point according to a second preset track;
continuously moving according to other preset tracks to obtain different position coordinates of the workpiece;
based on the obtained coordinates of different positions, relative position relation operation is carried out to obtain the geometric and spatial position information of the workpiece;
and returning to the trigger point according to a third preset track.
8. The robot-based stone engraving system of claim 6, wherein the control instructions include tool setting; the programmable controller sends a tool setting control signal to the control device, and the control device controls the robot to execute the tool setting module; the tool setting module is used for realizing the following functions:
touching the tool setting gauge according to a fourth preset track to trigger a signal;
stopping movement and obtaining the coordinates of the current point;
performing difference operation on the current point coordinate and the reference coordinate to obtain a difference value, and obtaining the current cutter length based on the estimated cutter length and the difference value;
and the trigger signal obtains a return instruction and returns to the starting point according to a fifth preset track.
9. The robot-based stone engraving system of claim 6, wherein the control instructions include loading a file; the programmable controller sends a file loading control signal to the control device, and the control device controls the robot to execute a file loading module; the file loading module is used for realizing the following functions:
selecting a loading file;
associating the signal to the load file;
and triggering an associated signal to call the loading file.
10. The robot-based stone engraving and processing system of claim 6, wherein the human machine interface communicates with the programmable controller via an Ethernet protocol; the programmable controller is communicated with the control device through a Profinet protocol; the control device is a robot control cabinet, the programmable controller sends a control signal to the robot control cabinet, and the robot control cabinet executes corresponding operation through a signal mapping relation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154484.1A CN113733375A (en) | 2021-09-29 | 2021-09-29 | Stone carving method and system based on robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154484.1A CN113733375A (en) | 2021-09-29 | 2021-09-29 | Stone carving method and system based on robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113733375A true CN113733375A (en) | 2021-12-03 |
Family
ID=78741871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111154484.1A Pending CN113733375A (en) | 2021-09-29 | 2021-09-29 | Stone carving method and system based on robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113733375A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030052779A (en) * | 2001-12-21 | 2003-06-27 | 이미지스테이션(주) | Automatic engraving method and System for a three dimensional appearance |
| CN102166908A (en) * | 2010-12-31 | 2011-08-31 | 东莞市红旗家具有限公司 | Full-automatic wood carving method and fine carving machine implementing same |
| CN103568672A (en) * | 2013-11-08 | 2014-02-12 | 桂林福冈新材料有限公司 | Automatic carving system |
| CN105643399A (en) * | 2015-12-29 | 2016-06-08 | 沈阳理工大学 | Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method |
| CN107544427A (en) * | 2017-08-17 | 2018-01-05 | 上海诺倬力机电科技有限公司 | Presetting cutter method and system |
| CN211640532U (en) * | 2020-01-19 | 2020-10-09 | 福建盛达机器股份公司 | Intelligent stone cutting machine with double working platforms and walking beams |
-
2021
- 2021-09-29 CN CN202111154484.1A patent/CN113733375A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030052779A (en) * | 2001-12-21 | 2003-06-27 | 이미지스테이션(주) | Automatic engraving method and System for a three dimensional appearance |
| CN102166908A (en) * | 2010-12-31 | 2011-08-31 | 东莞市红旗家具有限公司 | Full-automatic wood carving method and fine carving machine implementing same |
| CN103568672A (en) * | 2013-11-08 | 2014-02-12 | 桂林福冈新材料有限公司 | Automatic carving system |
| CN105643399A (en) * | 2015-12-29 | 2016-06-08 | 沈阳理工大学 | Automatic lapping and polishing system for complex surface of compliant control-based robot and machining method |
| CN107544427A (en) * | 2017-08-17 | 2018-01-05 | 上海诺倬力机电科技有限公司 | Presetting cutter method and system |
| CN211640532U (en) * | 2020-01-19 | 2020-10-09 | 福建盛达机器股份公司 | Intelligent stone cutting machine with double working platforms and walking beams |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108581590B (en) | Truss type mechanical arm control method and system for automatic feeding and discharging of machine tool | |
| EP2993542B1 (en) | Teaching system, robot system, and teaching method | |
| CN202336657U (en) | Robot sectional steel cutting system | |
| US11565414B2 (en) | Machining control system and machining system | |
| CN108115705A (en) | A kind of robot polishing control system and method | |
| JP7184595B2 (en) | machine tool system | |
| Bolmsjö et al. | Robotic arc welding–trends and developments for higher autonomy | |
| JP2011048621A (en) | Robot off-line teaching method | |
| Nagata et al. | Development of CAM system based on industrial robotic servo controller without using robot language | |
| KR102033241B1 (en) | Device and method controlling a movement speed of robot | |
| CN102615161B (en) | Control system of general two-dimensional numerical control spinning lathe | |
| CN115502979A (en) | Active flexible and accurate control method and system for moment of mechanical arm | |
| JP2008221428A (en) | Robot teaching system and method | |
| JP2012099082A (en) | Program conversion module and program conversion method for multiaxial synchronous operation machine | |
| CN105955180A (en) | Intelligent manufacturing adaptive dynamic generation robot real-time automatic programming method | |
| CN113733375A (en) | Stone carving method and system based on robot | |
| CN105082152A (en) | Novel multifunctional robot for production line | |
| JP7294980B2 (en) | Control systems, controllers, and robots | |
| JP5601949B2 (en) | Robot control system | |
| WO2017101700A1 (en) | Computer aided manufacturing method, device and system in direct communication with numerical control system | |
| WO2022102578A1 (en) | Numerical control apparatus and numerical control system | |
| WO2013113320A1 (en) | System for modifying a plc program | |
| JP2003165079A (en) | Industrial robot | |
| CN103909524B (en) | Directional type position control method | |
| CN201702779U (en) | End effector control device of industrial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |