CN113828911A - Shearing device based on industrial vision and shearing method thereof - Google Patents

Shearing device based on industrial vision and shearing method thereof Download PDF

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Publication number
CN113828911A
CN113828911A CN202110955368.3A CN202110955368A CN113828911A CN 113828911 A CN113828911 A CN 113828911A CN 202110955368 A CN202110955368 A CN 202110955368A CN 113828911 A CN113828911 A CN 113828911A
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CN
China
Prior art keywords
positioning
assembly
shearing
seat
module
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Withdrawn
Application number
CN202110955368.3A
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Chinese (zh)
Inventor
庞姝云
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Nanjing Fengyao Technology Co ltd
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Nanjing Fengyao Technology Co ltd
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Priority to CN202110955368.3A priority Critical patent/CN113828911A/en
Publication of CN113828911A publication Critical patent/CN113828911A/en
Withdrawn legal-status Critical Current

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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
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
    • 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
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • 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
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • 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
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • 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
    • B23K26/702—Auxiliary 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work

Abstract

The invention discloses a shearing device and a shearing method based on industrial vision, and belongs to the technical field of automation. The shearing device comprises a movable shearing module, a positioning module and a vision calculation module, wherein the movable shearing module is used for controlling the movement of a laser assembly in a spatial position, the movable shearing module is used for controlling the movement and local deflection of the laser assembly in a space, the positioning module is installed on a base of the movable shearing module, the vision calculation module is arranged on an installation seat of the positioning module, the angle difference between an original material and a theory when the original material is positioned is calculated, and the shearing path of the laser assembly is determined; and calculating the angle difference between the actual positioning and the theoretical positioning of the material by using the sight distance measuring instrument and the calculation center, regulating and controlling the deflection angle of the laser assembly and further improving the accurate value of the shearing of the workpiece.

Description

Shearing device based on industrial vision and shearing method thereof
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a shearing device and a shearing method based on industrial vision.
Background
The final forming of many workpieces often requires multiple processing steps, especially for some workpieces with curved surfaces, either a workpiece with a margin is processed on an original material, or the workpiece is bent after the processing is completed, because the first processing procedure is often a priority procedure, such an original material is usually a continuous line segment extending in a certain fixed direction in advance, the continuous line segment is a continuous curved surface formed by stretching the continuous line segment along a direction perpendicular to the fixed direction, the continuous curved surface is usually an upper surface or a lower surface of the original workpiece, a plurality of required workpieces are processed on the original material, the processed workpieces often need to be processed for two or three times to complete a final shape, wherein a certain special workpiece needs to have a margin for multiple times of processing after removing the surface shape, and a certain margin also needs to be left on an edge surface or an edge surface with a certain thickness, when a certain angle is required to be reserved relative to a straight line between the upper surface and the lower surface, the conventional shearing device is not applicable any more, and firstly, the allowance of the machined workpiece is too large, so that the secondary machining of the workpiece is not convenient; and secondly, the conventional shearing device usually adopts a cutter which is suitable for processing under a straight line, and the side surfaces with certain thickness at the edges of curves and further curves cannot be processed well.
Disclosure of Invention
The invention provides a packaging device based on industrial identification and a packaging method thereof to solve the technical problems in the background technology.
The invention adopts the following technical scheme: an industrial vision based shearing device for shearing a workpiece from a material by a laser assembly, comprising:
the movable shearing module is fixedly arranged on the workbench and used for controlling the movement of the laser assembly on the spatial position; the movable shearing module is provided with a first movable assembly, a second movable module, a third movable assembly and a deflection assembly, and the three groups of movable assemblies control the movement of the laser assembly in space; the deflection component adjusts the deflection angle of the laser component;
the positioning module is arranged on the base of the movable shearing module; the positioning module is provided with a first positioning component and a second positioning component;
the visual calculation module is arranged on the mounting seat of the positioning module; the vision calculation module comprises a sight distance measuring instrument, a calculation center and a control center; the sight distance measuring instrument is used for measuring the distance from the sight distance measuring instrument to the upper surface of the original material; the calculation center carries out calculation and analysis, calculates the angle difference between the original material and the theory when the original material is positioned, and determines the shearing path of the laser assembly; and the control center controls the second positioning assembly to perform positioning work.
Through the technical scheme, the laser assembly is controlled to move in space by the aid of the movable shearing module fixedly arranged on the workbench, the spatial position of a material is measured by the aid of the visual calculation module, a shearing path is finally determined, a preset graphic workpiece is sheared on the material, the second positioning assembly is further controlled by the control center, the workpiece is fixedly positioned in the shearing process of the workpiece, and the workpiece is prevented from displacing and deflecting in the shearing process.
In a further embodiment, the mobile clipping module comprises:
the two first mounting plates are oppositely arranged on the workbench;
the first screw rods are rotatably arranged on the two first mounting plates;
the first positioning rod is connected to the two first mounting plates and is parallel to the first screw rod;
the first sliding seat is rotationally connected with the first screw rod and is in sliding connection with the first positioning rod;
the two groups of first lifting components are arranged at two ends of the first sliding seat in parallel and used for mounting a second mounting plate;
two ends of the second screw rod are arranged on the two second mounting plates, and the mounting direction of the second screw rod is vertical to that of the first screw rod;
two ends of the second positioning rod are arranged on the two second mounting plates and are parallel to the second screw rod;
the second sliding seat is rotationally connected with the second screw rod and is in sliding connection with the second positioning rod; the second sliding seat is used for installing a third moving assembly, and the moving direction of the third sliding seat of the third moving assembly is perpendicular to the moving direction of the first sliding seat and the moving direction of the second sliding seat respectively.
Through the technical scheme, the laser assembly moves in three directions in a spatial position, namely the moving direction of the second moving assembly perpendicular to the moving direction of the first moving assembly, and the third moving assembly is further arranged on the second sliding seat, so that the moving direction of the third assembly perpendicular to the moving direction of the first moving assembly and the moving direction of the second moving assembly is realized.
In a further embodiment the deflection assembly comprises:
the first gear is arranged on the side surface of the third sliding seat;
the second gear is arranged on the side surface of the bearing seat on the front surface of the third sliding seat and is meshed with the first gear;
the eccentric seat is rotatably connected with the bearing seat on the front surface of the third sliding seat; the second gear is partially and fixedly arranged on the side surface of the eccentric seat through a fastener;
and the laser assembly is rotationally connected with the deflection seat and rotates by a controlled angle in a plane.
Through above-mentioned technical scheme, there is the error in the actual mounted position of solving the original material itself and theoretical position to and the required edge of work piece probably is equipped with the condition how to solve of relative angle, when cuting to the edge of work piece, the accuracy is higher.
In a further embodiment, the first positioning component comprises:
the positioning seat is arranged on the first mounting plate; the first sliding seat slides below the positioning seat;
and the positioning clamping jaws are arranged on the inner side surface of the positioning seat according to the height of each edge of the original material so as to position the horizontal position of the original material.
By the technical scheme, the positioning mode is set as rough positioning, namely, the original material is controlled to be placed on the area to be processed relatively horizontally.
In a further embodiment, the second positioning assembly comprises:
the two first rails are arranged at the bottom of the positioning seat;
the two ends of the guide rail are arranged on the first rail and slide;
a guide rail seat sliding on the guide rail;
the rotating disc is arranged on the guide rail seat; the rotating disc is distributed with a plurality of cylinders along the rotating center.
Through above-mentioned technical scheme, required work piece is the shaping gradually, and it is along with the going on of shearing for the original material, local deflection can take place, and especially when the shearing is about to accomplish, the work piece is when being about to drop, and this type of phenomenon is more obvious, fixes a position through above-mentioned device, prevents that the work piece from processing and deflecting under the action of gravity.
In a further embodiment, the vision computation module comprises:
the azimuth control assembly is arranged at the top of the positioning seat;
the visual range measuring instrument is arranged on the azimuth control assembly and used for measuring the distance from the visual range measuring instrument to the upper surface of the material;
a calculation center receiving a distance from the sight distance measuring instrument to an upper surface of the material; the calculation center calculates the rotation angle of the sight distance measuring instrument along the rotation surface of the sight distance measuring instrument, calculates the vertical distance from the plane simulated by the sight distance measuring instrument to the surface of the original material, draws a continuous curve, the curve is the projection of the continuous curve of the upper surface of the original material, and calculates the included angle between the continuous curve of the upper surface of the original material and the measuring curve according to a projection formula;
and the control center is used for receiving the signal of the calculation center and controlling the second positioning assembly to perform positioning work.
According to the technical scheme, the sight distance measuring instrument is used for measuring the distance from the sight distance measuring instrument to the upper surface of the material, the calculation center receives the distance from the second sight distance measuring instrument to the upper surface of the material, the calculation center calculates the rotation angle of the sight distance measuring instrument along the rotation surface of the sight distance measuring instrument, the included angle between the continuous curve and the measurement curve of the upper surface of the original material is obtained, the angle difference between the original material and the theoretical angle difference is determined when the original material is installed, and the control center controls the second positioning assembly to perform positioning work when a workpiece is machined.
In a further embodiment, the orientation control assembly comprises:
the mounting seat is mounted on the positioning seat;
the rotating platform is rotatably arranged on the mounting seat;
the rotating assembly is arranged on the rotating platform; a rotating part of the rotating assembly is provided with a sight distance measuring instrument; the rotating assembly controls the rotating surface of the stadia measuring instrument to be perpendicular to the rotating surface of the rotating platform.
Through the technical scheme, the measuring range of the stadia measuring instrument is expanded to the surface range, so that the measuring range covers the surface of the whole material.
In a further embodiment, a method of shearing by an industrial vision based shearing device, comprises the steps of:
the method comprises the following steps: firstly, inputting three-dimensional surface spectrum data of a required image and three-dimensional surface spectrum data of an original material to an image calculation center, positioning the material in a positioning seat through a positioning clamping jaw, measuring the distance from a vision distance measuring instrument to the surface of the material by using a vision distance measuring instrument, controlling the measuring path of the vision distance measuring instrument to be a straight line direction by an orientation control assembly, and calculating the angle difference between the positioning time of the original material and the theoretical positioning according to a projection formula;
step two: the calculation center controls the mobile shearing module to enable the laser assembly to carry out shearing work according to the calculated path;
step three: when the shearing is carried out, the control center controls the second positioning assembly to position the bottom surface of the original material until the shearing work is finished.
The invention has the beneficial effects that: the required workpiece is processed from the material, and the laser assembly is used for shearing, so that the finished product effect is better; calculating the angle difference between the actual positioning and the theoretical positioning of the material by using the sight distance measuring instrument and the calculation center, and further improving the accurate value of the shearing of the workpiece by regulating and controlling the deflection angle of the laser assembly; the second positioning assembly is used for positioning the workpiece in the shearing process, so that the workpiece is prevented from deflecting under the action of gravity when being sheared or about to be finished.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the structure of the mobile shear module of the present invention.
Fig. 3 is a schematic view of the structure of the deflection unit of the present invention.
Fig. 4 is a schematic structural diagram of a positioning module of the present invention.
Fig. 5 is a schematic structural diagram of a second positioning assembly of the present invention.
Fig. 6 is a schematic view of the deflector according to the present invention.
FIG. 7 is a schematic diagram of the construction of the orientation control assembly of the present invention.
Each of fig. 1 to 7 is labeled as: the device comprises a mobile shearing module 1, a first mobile assembly 11, a first mounting plate 111, a first screw rod 112, a first positioning rod 113, a first sliding seat 114, a lifting assembly 115, a second mobile assembly 12, a second mounting plate 121, a second screw rod 122, a second positioning rod 123, a second sliding seat 124, a third mobile assembly 13, a deflection assembly 14, a first gear 141, a second gear 142, a deflection seat 143, a laser assembly 15, a positioning module 2, a first positioning assembly 21, a positioning seat 211, a positioning clamping jaw 212, a second positioning assembly 22, a first track 221, a guide rail 222, a guide rail seat 223, a rotating disc 224, an air cylinder 225, a vision calculation module 3, a vision distance measuring instrument 31, an orientation control assembly 32, a mounting seat 321, a rotating table 322, a rotating assembly 323, a calculation center 33 and a control center 34.
Detailed Description
The conventional process usually needs to be carried out multiple times of shearing when a workpiece is sheared from a material, a preset shearing allowance is reserved every time, the next machining is convenient to carry out, the process is troublesome, the process is complex, particularly for the workpiece with certain thickness, the thickness surface of the workpiece can be required to be provided with a specified inclined surface, and the conventional shearing device is usually linear and is not suitable for the shearing machining.
The shearing device in this embodiment preferentially adopts the laser assembly 15 to perform customized or preset graph shearing on the original material, records the three-dimensional surface spectrum data of the required image and the three-dimensional surface spectrum data of the original material to the image acquisition center, fixes the original material to the preset position on the positioning module 2, wherein the positioning module 2 is installed on the base of the movable shearing module 1, the positioning module 2 is provided with two groups of positioning assemblies, wherein the first positioning assembly 21 is used for positioning the initial position of the original material, the vision calculating module 3 installed on the base of the movable shearing module 1 measures and calculates the installed original material, firstly, the sight distance measuring instrument 31 used for measuring the upper surface of the original material is used for performing the first positioning measurement, namely, the measurement is performed along any straight line, the distance data is transmitted to the calculating center 33, the calculating center 33 calculates the rotation angle of the sight distance measuring instrument 31 along the rotation plane thereof, calculating the vertical distance from the plane simulated by the stadia measuring instrument 31 to the surface of the original material, drawing a continuous curve by the data, wherein the curve is the projection of the continuous curve of the upper surface of the original material, calculating the included angle between the continuous curve of the upper surface of the original material and the measuring curve according to a projection formula, determining the deflection angle of the original material during installation, further cutting off the distribution of the continuous curve on the surface of the original material, drawing a closed curve graph of the upper surface of a required workpiece on the upper surface of the original processing material according to the three-dimensional surface spectrum data recorded with the required image, setting a cutting path scheme, controlling the laser component 15 to move spatially by using a movable cutting module 1 fixedly arranged on a worktable, cutting a preset graphic workpiece on the original material, and further controlling the second positioning component 22 by a control center 34, in the process of shearing the workpiece, the workpiece is fixed and positioned, and the workpiece is prevented from displacing and deflecting in the shearing process.
Based on the above structure, according to the required work piece cut from the original material, the basic movement requirement of the laser assembly 15 is three-dimensional movement, i.e. three basic orientations of up and down, left and right, and front and back, in a further embodiment, in order to realize the basic precise movement of the laser assembly 15, the lead screw assembly is limited to be installed in three orientations, i.e. two first installation plates 111 are relatively installed on the workbench, a first lead screw 112 and at least one parallel first positioning rod 113 are installed in the middle, the first lead screw 112 is located at the outer end of the first installation plate 111 and connected with a motor set, the motor controls the first lead screw 112 to rotate, a first sliding seat 114 is arranged on the first lead screw 112, and a through hole is arranged for passing through the first positioning rod 113, the structure is that the first moving assembly 11 realizes a linear movement in one orientation, a second moving assembly 12 is arranged on the first sliding seat 114, two groups of first lifting components 115 are arranged at two ends of a first sliding seat 114 in parallel and used for fixed coarse adjustment before processing, a second mounting plate 121 is mounted on the first lifting components 115, the second mounting plate 121 is arranged oppositely, a second screw rod 122 and at least one group of parallel second positioning rods 123 are mounted in the middle, a second sliding seat 124 is rotatably connected with the second screw rod 122, a through hole of the second sliding seat 124 penetrates through the second positioning rods 123 and is in sliding connection, the moving direction of a second moving component 12 perpendicular to the moving direction of the first moving component 11 is set, a third moving component 13 is further arranged on the second sliding seat 124, the moving direction of the third component perpendicular to the moving direction of the first moving component 11 and the moving direction of the second moving component 12 is realized simultaneously, and therefore space movement of the laser component 15 is realized.
Based on the above structure, the cutting direction of the laser assembly 15 is vertical, because the actual installation position of the original material itself has an error from the theoretical position, and the edge of the required workpiece may have a relative angle, in a further embodiment, the deflection assembly 14 is provided for the laser assembly 15 again, to realize the deflection of the laser assembly 15 relative to the surface of the original material, so as to better cut the required workpiece, i.e. the first gear 141 is provided at the side of the third sliding seat, the second gear 142 is installed at the side of the bearing seat at the front of the third sliding seat, the first gear 141 is rotatably engaged with the second gear 142, wherein the deflection seat 143 is rotatably connected to the bearing seat at the front of the third sliding seat, the deflection seat 143 can rotate up and down by a certain angle relative to the third sliding seat, the second gear 142 is partially fixedly installed at the side of the deflection seat 143 by a fastener, the first gear 141 drives the second gear 142 to rotate, so that the deflection seat 143 deflects relative to the third sliding seat, the laser assembly 15 is further rotatably arranged on the deflection seat 143, and the rotating surface of the laser assembly 15 is perpendicular to the deflection surface of the deflection seat 143, so that the local deflection of the laser assembly 15 is finally realized.
Based on the above structure, the positioning of the raw material is difficult to be controlled precisely, and can only be controlled within a proper range, especially for some precise shearing workpieces, for this purpose, the invention is configured as a rough positioning, that is, the raw material is controlled to be placed relatively horizontally in the area to be processed, in a further embodiment, the positioning seat 211 is configured on the first mounting plate 111, the rectangular positioning seat 211 can be selected preferentially, the first sliding seat 114 slides under the positioning seat 211, the edge of the raw material is clamped by the positioning clamping jaws 212, and a plurality of positioning clamping jaws 212 are configured on the inner side surface of the positioning seat 211 according to the height position of each edge of the raw material, so as to position the horizontal position of the raw material.
Based on the above mechanism, when the original material is sheared, and when the laser assembly 15 shears the preset path, the required workpiece is gradually shaped, and it may partially deflect with the shearing of the original material, especially when the shearing is about to be completed, and the workpiece is about to fall off, such phenomena are more obvious, in a further embodiment, the second positioning assembly 22 is provided to partially position the workpiece during machining, i.e. two first tracks 221 are provided at the bottom position of the positioning seat 211, two ends of the guide rail 222 slide on the first tracks 221, the guide rail seat 223 is provided to slide on the guide rail 222, the guide rail seat 222 is further provided with a rotating disc 224, the rotating disc 224 is distributed with a plurality of cylinders 225 along the rotation center thereof, the telescopic end of the cylinder 225 is provided with an elastic contact element, according to the three-dimensional surface spectrum data of the required image, after the sight distance measuring instrument 31 precisely positions the shearing path of the workpiece, the control center 34 controls the positioning operation of the second positioning assembly 22, so that the plurality of cylinders 225 respectively abut against the original material and the processed workpiece, namely, two sides of the processing path, so as to realize the positioning during the processing process and prevent the workpiece from shifting.
Based on the above structure, since the spatial position and the shearing angle of the laser assembly 15 need to be adjusted in time during the processing, and the installation position of the raw material needs to be determined in advance and the processing path needs to be determined, in a further embodiment, the present invention provides the industrial vision calculation module 3, that is, an orientation control assembly 32 is disposed at the top position of the positioning seat 211, the stadiometer 31 is disposed on the orientation control assembly 32 and is used for measuring the distance from the stadiometer 31 to the upper surface of the material, the calculation center 33 receives the distance from the second stadiometer 31 to the upper surface of the material, the calculation center 33 calculates the rotation angle of the stadiometer 31 along the rotation plane, the vertical distance from the simulated plane of the stadiometer 31 to the surface of the raw material is calculated, the data can draw a continuous curve, which is the projection of the continuous curve of the upper surface of the raw material, and calculating according to a projection formula to obtain an included angle between a continuous curve and a measured curve of the upper surface of the raw material so as to determine an angle difference from a theoretical angle when the raw material is installed, wherein the control center 34 is used for receiving a signal of the calculation center 33 and controlling the second positioning assembly 22 to perform positioning work when a workpiece is machined.
Based on the above mechanism, the measurement direction of the tacheometer 31 needs to cover one surface, and in a further embodiment, the direction control module 32 is used for controlling, namely, the positioning seat 211 is provided with the mounting seat 321 for mounting the rotating platform 322, the rotating module 323 is mounted on the rotating platform 322, wherein the rotating part of the rotating module 323 is used for mounting the tacheometer 31, and the rotating module 323 controls the rotating surface of the tacheometer 31 to be perpendicular to the rotating surface of the rotating platform 322, and on the basis, the measurement range of the tacheometer 31 is expanded to the range of the surface.
The working principle is as follows: firstly, inputting three-dimensional surface spectrum data of a required image and three-dimensional surface spectrum data of an original material to an image calculation center 33, positioning a clamping jaw 212 to position the original material in a positioning seat 211, arranging a sight distance measuring instrument 31 on an azimuth control assembly 32 for measuring the distance between the sight distance measuring instrument 31 and the upper surface of the material, receiving the distance between a second sight distance measuring instrument 31 and the upper surface of the material by the calculation center 33, calculating the rotation angle of the sight distance measuring instrument 31 along the rotation surface of the sight distance measuring instrument by the calculation center 33, calculating the vertical distance between a simulated plane of the sight distance measuring instrument 31 and the surface of the original material, drawing a continuous curve by the data, wherein the curve is the projection of the continuous curve of the upper surface of the original material, calculating the included angle between the continuous curve of the upper surface of the original material and the measured curve according to a projection formula, and determining the angle difference between the original material and the theoretical angle when the original material is installed, by means of the arrangement of the cutting stiffness for positioning the workpiece, the movable cutting module 1 controls the laser assembly 15 to move in three directions in space, the deflection assembly 14 is utilized to adjust the angle of the laser assembly 15 relative to the surface of the workpiece, and the control center 34 further controls the second positioning assembly 22 to position the bottom surface of the original material in the cutting process of the material, namely controls the plurality of air cylinders 225 to respectively abut against the lower surfaces of the original material and the processed workpiece, namely two sides of the processing path, so that the positioning in the processing process is realized.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims (8)

1. An industrial vision based shearing device for shearing a workpiece from a material by a laser assembly, comprising:
the movable shearing module is fixedly arranged on the workbench and used for controlling the movement of the laser assembly on the spatial position; the movable shearing module is provided with a first movable assembly, a second movable module, a third movable assembly and a deflection assembly, and the three groups of movable assemblies control the movement of the laser assembly in space; the deflection component adjusts the deflection angle of the laser component;
the positioning module is arranged on the base of the movable shearing module; the positioning module is provided with a first positioning component and a second positioning component;
the visual calculation module is arranged on the mounting seat of the positioning module; the vision calculation module comprises a sight distance measuring instrument, a calculation center and a control center; the sight distance measuring instrument is used for measuring the distance from the sight distance measuring instrument to the upper surface of the original material; the calculation center carries out calculation and analysis, calculates the angle difference between the original material and the theory when the original material is positioned, and determines the shearing path of the laser assembly; and the control center controls the second positioning assembly to perform positioning work.
2. The industrial vision-based shearing device as recited in claim 1, wherein the mobile shearing module comprises:
the two first mounting plates are oppositely arranged on the workbench;
the first screw rods are rotatably arranged on the two first mounting plates;
the first positioning rod is connected to the two first mounting plates and is parallel to the first screw rod;
the first sliding seat is rotationally connected with the first screw rod and is in sliding connection with the first positioning rod;
the two groups of first lifting components are arranged at two ends of the first sliding seat in parallel and used for mounting a second mounting plate;
two ends of the second screw rod are arranged on the two second mounting plates, and the mounting direction of the second screw rod is vertical to that of the first screw rod;
two ends of the second positioning rod are arranged on the two second mounting plates and are parallel to the second screw rod;
the second sliding seat is rotationally connected with the second screw rod and is in sliding connection with the second positioning rod; the second sliding seat is used for installing a third moving assembly, and the moving direction of the third sliding seat of the third moving assembly is perpendicular to the moving direction of the first sliding seat and the moving direction of the second sliding seat respectively.
3. The industrial vision-based shearing device as defined in claim 2, wherein said deflection assembly comprises:
the first gear is arranged on the side surface of the third sliding seat;
the second gear is arranged on the side surface of the bearing seat on the front surface of the third sliding seat and is meshed with the first gear;
the eccentric seat is rotatably connected with the bearing seat on the front surface of the third sliding seat; the second gear is partially and fixedly arranged on the side surface of the eccentric seat through a fastener;
and the laser assembly is rotationally connected with the deflection seat and rotates by a controlled angle in a plane.
4. The industrial vision-based shearing device as recited in claim 3, wherein said first positioning element comprises:
the positioning seat is arranged on the first mounting plate; the first sliding seat slides below the positioning seat;
and the positioning clamping jaws are arranged on the inner side surface of the positioning seat according to the height of each edge of the original material so as to position the horizontal position of the original material.
5. The industrial vision-based shearing device as recited in claim 4, wherein said second positioning assembly comprises:
the two first rails are arranged at the bottom of the positioning seat;
the two ends of the guide rail are arranged on the first rail and slide;
a guide rail seat sliding on the guide rail;
the rotating disc is arranged on the guide rail seat; the rotating disc is distributed with a plurality of cylinders along the rotating center.
6. The industrial vision based cropping device according to claim 4, wherein the vision computing module comprises:
the azimuth control assembly is arranged at the top of the positioning seat;
the visual range measuring instrument is arranged on the azimuth control assembly and used for measuring the distance from the visual range measuring instrument to the upper surface of the material;
a calculation center receiving a distance from the sight distance measuring instrument to an upper surface of the material; the calculation center calculates the rotation angle of the sight distance measuring instrument along the rotation surface of the sight distance measuring instrument, calculates the vertical distance from the plane simulated by the sight distance measuring instrument to the surface of the original material, draws a continuous curve, the curve is the projection of the continuous curve of the upper surface of the original material, and calculates the included angle between the continuous curve of the upper surface of the original material and the measuring curve according to a projection formula;
and the control center is used for receiving the signal of the calculation center and controlling the second positioning assembly to perform positioning work.
7. The industrial vision-based shearing device of claim 6, wherein said orientation control assembly comprises:
the mounting seat is mounted on the positioning seat;
the rotating platform is rotatably arranged on the mounting seat;
the rotating assembly is arranged on the rotating platform; a rotating part of the rotating assembly is provided with a sight distance measuring instrument; the rotating assembly controls the rotating surface of the stadia measuring instrument to be perpendicular to the rotating surface of the rotating platform.
8. The shearing method based on the industrial vision based shearing device as claimed in any one of claims 1 to 7, characterized by comprising the following steps:
the method comprises the following steps: firstly, inputting three-dimensional surface spectrum data of a required image and three-dimensional surface spectrum data of an original material to an image calculation center, positioning the material in a positioning seat through a positioning clamping jaw, measuring the distance from a vision distance measuring instrument to the surface of the material by using a vision distance measuring instrument, controlling the measuring path of the vision distance measuring instrument to be a straight line direction by an orientation control assembly, and calculating the angle difference between the actual positioning and the theoretical positioning of the material according to a projection formula;
step two: the calculation center controls the mobile shearing module to enable the laser assembly to carry out shearing work according to the calculated path;
step three: when the shearing is carried out, the control center controls the second positioning assembly to position the bottom surface of the original material until the shearing work is finished.
CN202110955368.3A 2021-08-19 2021-08-19 Shearing device based on industrial vision and shearing method thereof Withdrawn CN113828911A (en)

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CN202110955368.3A CN113828911A (en) 2021-08-19 2021-08-19 Shearing device based on industrial vision and shearing method thereof

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Application Number Priority Date Filing Date Title
CN202110955368.3A CN113828911A (en) 2021-08-19 2021-08-19 Shearing device based on industrial vision and shearing method thereof

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114273784A (en) * 2021-12-31 2022-04-05 宜宾轩驰智能科技有限公司 Glass laser polishing device and method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114273784A (en) * 2021-12-31 2022-04-05 宜宾轩驰智能科技有限公司 Glass laser polishing device and method

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Application publication date: 20211224