CN115609707A - Intelligent bamboo sawing equipment and method based on visual detection - Google Patents
Intelligent bamboo sawing equipment and method based on visual detection Download PDFInfo
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- CN115609707A CN115609707A CN202211619625.7A CN202211619625A CN115609707A CN 115609707 A CN115609707 A CN 115609707A CN 202211619625 A CN202211619625 A CN 202211619625A CN 115609707 A CN115609707 A CN 115609707A
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- 235000017166 Bambusa arundinacea Nutrition 0.000 title claims abstract description 361
- 235000017491 Bambusa tulda Nutrition 0.000 title claims abstract description 361
- 235000015334 Phyllostachys viridis Nutrition 0.000 title claims abstract description 361
- 241001330002 Bambuseae Species 0.000 title claims abstract description 343
- 239000011425 bamboo Substances 0.000 title claims abstract description 343
- 238000001514 detection method Methods 0.000 title claims abstract description 42
- 230000000007 visual effect Effects 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims abstract description 36
- 238000005520 cutting process Methods 0.000 claims abstract description 27
- 238000011179 visual inspection Methods 0.000 claims description 24
- 238000009826 distribution Methods 0.000 claims description 13
- 230000004438 eyesight Effects 0.000 claims description 2
- 239000002699 waste material Substances 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 241000209128 Bambusa Species 0.000 description 18
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27J—MECHANICAL WORKING OF CANE, CORK, OR SIMILAR MATERIALS
- B27J1/00—Mechanical working of cane or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B31/00—Arrangements for conveying, loading, turning, adjusting, or discharging the log or timber, specially designed for saw mills or sawing machines
- B27B31/003—Arrangements for conveying, loading, turning, adjusting, or discharging the log or timber, specially designed for saw mills or sawing machines with rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/02—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only
- B27B5/06—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor characterised by a special purpose only for dividing plates in parts of determined size, e.g. panels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
- B27B—SAWS FOR WOOD OR SIMILAR MATERIAL; COMPONENTS OR ACCESSORIES THEREFOR
- B27B5/00—Sawing machines working with circular or cylindrical saw blades; Components or equipment therefor
- B27B5/29—Details; Component parts; Accessories
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Abstract
The invention relates to the technical field of bamboo processing, in particular to intelligent bamboo sawing equipment and a bamboo sawing method based on visual detection, wherein the intelligent bamboo sawing equipment comprises a rack, a conveying device, a sawing device and a visual detection assembly, wherein the conveying device, the sawing device and the visual detection assembly are arranged on the rack; the camera is used for identifying whether bamboo joints exist at positions, which are away from the sawing end of the original bamboo and saw cut to preset fixed lengths, if the bamboo joints exist, the control pushing assembly pushes the original bamboo to move forwards to avoid the length distance of the joints according to the preset joint avoiding length, and the original bamboo which is removed to avoid the length is sawn to realize the joint avoiding. The invention has the beneficial effects that: the invention can accurately avoid knots, can define the cutting length by user, can improve the utilization rate of the raw bamboo material and avoid waste; whole process need not operating personnel and participates in, improves the work efficiency of former bamboo fixed length section, and degree of automation is high, reduces the cost of labor of enterprise.
Description
Technical Field
The invention relates to the technical field of bamboo processing, in particular to intelligent bamboo sawing equipment and a bamboo sawing method based on visual detection.
Background
In the process of processing bamboo into boards, the raw bamboo is firstly sawed into required length, and then the bamboo cylinders with fixed length sections are broken and sliced into bamboo strips. The bamboo splints are suitable for being processed into the original bamboo splints only when the outer diameter and the wall thickness of the original bamboo splints need to reach a certain size, wherein the wall thickness is particularly important, and the processed bamboo splints often have defects when the wall thickness is insufficient. Meanwhile, the original bamboo can be sawn into lengths for other purposes when the outer diameter and the wall thickness are smaller than the size.
At present, in the bamboo splitting equipment in the market, the diameter and the wall thickness of the small end of the bamboo tube are required to be measured in the process of splitting the bamboo to obtain a proper splitting mode. If bamboo joints are arranged on the end face of the bamboo tube, measurement is not convenient, and the bamboo tube and the cutter head are misaligned to cause unequal division of bamboo chips, so that bamboo tube materials are scrapped. Therefore, the joints of the raw bamboo should be reasonably removed or avoided in the sawing process of the raw bamboo.
At the present stage, the sawing of the raw bamboo mainly takes manual work as main work, and the raw bamboo is cut by using an electric saw. Saw cut the in-process through artifical material loading, saw cut the head after with artifical the removal carry out the fixed length saw cut, use whether have the bamboo joint in the certain length of naked eye discernment tip, and then go the festival or keep away the festival. The purpose and the sawing length of the raw bamboo are determined by visually observing the outer diameter of the raw bamboo or manually measuring the wall thickness.
In recent years, automatic equipment is used for axially moving and conveying raw bamboos to a fixed length, bamboo joint identification is performed through a sensor, and the purpose and the sawing length of the raw bamboos are determined in a mode of measuring the outer diameters of the raw bamboos through methods such as an electronic grating ruler and the like. When using the manual work to carry out former bamboo measurement and fixed length cutting, production efficiency is lower, and the fixed length precision is lower, often solves through increaseing reserved length, therefore has the extravagant problem of material. When carrying out the bamboo joint discernment through the sensor, because of the bamboo joint position usually has certain slope and can not accurate location bamboo joint position range and carry out the accuracy and keep away the festival, also cause the waste of former bamboo easily through measuring the usage of external diameter decision former bamboo and saw cutting length.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provided are intelligent bamboo sawing equipment and a bamboo sawing method based on visual detection and capable of intelligently removing nodes.
In order to solve the technical problems, the invention adopts the technical scheme that: the intelligent bamboo sawing equipment based on visual detection comprises a rack, a conveying device, a sawing device and a visual detection assembly, wherein the conveying device, the sawing device and the visual detection assembly are arranged on the rack;
the conveying device comprises a pushing assembly, a centering assembly and a clamping assembly which are arranged along the conveying direction of the raw bamboo;
the sawing device is positioned behind the clamping assembly along the raw bamboo conveying direction;
the visual detection assembly comprises a camera and a computer, and the camera, the pushing assembly, the centering assembly and the clamping assembly are respectively and electrically connected with the computer;
the camera is used for identifying whether bamboo joints exist at positions, which are away from the sawing end of the original bamboo and saw cut to preset fixed lengths, if the bamboo joints exist, the control pushing assembly pushes the original bamboo to move forwards to avoid the length distance of the joints according to the preset joint avoiding length, and the original bamboo which is removed to avoid the length is sawn to realize the joint avoiding.
The other technical scheme of the invention is as follows: the method for sawing the bamboo by using the intelligent bamboo sawing equipment based on the visual detection comprises the following steps of:
the pushing assembly pushes the raw bamboo to be conveyed forwards, the centering assembly centers the raw bamboo, the pushing assembly pushes the raw bamboo to a preset sawing position, the clamping assembly clamps the raw bamboo, and finally the raw bamboo is sawed off;
the camera identifies whether a bamboo joint exists at a position which is away from the sawing preset length of the original bamboo sawing end, and if the bamboo joint exists, the pushing assembly is controlled to push the original bamboo to move forwards for a knot-avoiding length distance according to the preset knot-avoiding length, and the original bamboo with the knot-avoiding length is sawn and removed to realize knot avoidance.
The invention has the beneficial effects that: according to the intelligent bamboo sawing equipment and the intelligent bamboo sawing method based on visual detection, raw bamboos are forwards transmitted through the pushing assembly, then the raw bamboos are clamped through the clamping assembly, after the raw bamboos are clamped, the raw bamboos are sawn through the sawing device through the saw blades, the pushing assembly pushes the raw bamboos to point inaccurately, and therefore stable sawing is achieved through the matching of the pushing assembly and the clamping assembly. The camera is used for identifying whether bamboo joints exist at positions, which are away from the sawing end of the original bamboo and saw cut to preset fixed lengths, if the bamboo joints exist, the control pushing assembly pushes the original bamboo to move forwards to avoid the length distance of the joints according to the preset joint avoiding length, and the original bamboo which is removed to avoid the length is sawn to realize the joint avoiding. The camera can discern and the cutting to the bamboo joint, obtains the fixed length section bamboo that does not have the bamboo joint. The invention can accurately avoid knots by visually detecting the outer diameter of the raw bamboo, can define the cutting length by self, can improve the utilization rate of raw bamboo materials and avoid waste; whole process need not operating personnel and participates in, improves the work efficiency of former bamboo fixed length section, and degree of automation is high, reduces the cost of labor of enterprise.
Drawings
Fig. 1 is a top view of an intelligent bamboo sawing device based on visual inspection according to an embodiment of the present invention;
fig. 2 is a side sectional view of an intelligent bamboo sawing device based on visual inspection according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a visual inspection based clamping assembly according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a centering assembly based on visual inspection according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a sawing device based on visual inspection according to an embodiment of the present invention;
fig. 6 is a schematic perspective view of an intelligent bamboo sawing device based on visual inspection according to an embodiment of the present invention;
description of reference numerals:
1. a frame;
2. a pushing assembly;
3. a clamping assembly; 31. clamping the slide rail; 32. a clamping member; 33. clamping the driving member;
4. a gantry assembly; 41. a mobile platform; 42. a clamp;
5. a centering assembly; 51. centering the slide rail; 52. a centering member; 53. centering the driving member; 54. a drum;
6. a sawing device; 61. a rocker; 62. a drive assembly; 621. a motor; 622. a crank; 623. a connecting rod; 624. a speed reducer; 63. a saw blade;
7. a visual inspection assembly; 71. a first camera; 72. a second camera; 73. a third camera;
8. a material distributing frame assembly; 81. a material distributing groove; 82. a cylinder;
9. and (5) raw bamboo.
Detailed Description
In order to explain the technical contents, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
The invention provides intelligent bamboo sawing equipment based on visual detection, which comprises a rack, and a conveying device, a sawing device and a visual detection assembly which are arranged on the rack;
the conveying device comprises a pushing assembly, a centering assembly and a clamping assembly which are arranged along the conveying direction of the raw bamboo;
the sawing device is positioned behind the clamping assembly along the raw bamboo conveying direction;
the vision detection assembly comprises a camera and a computer, and the camera, the pushing assembly, the centering assembly and the clamping assembly are respectively and electrically connected with the computer;
the camera is used for identifying whether bamboo joints exist at positions, which are away from the sawing end of the original bamboo and saw cut to preset fixed lengths, if the bamboo joints exist, the control pushing assembly pushes the original bamboo to move forwards to avoid the length distance of the joints according to the preset joint avoiding length, and the original bamboo which is removed to avoid the length is sawn to realize the joint avoiding.
According to the above description, in the intelligent bamboo sawing device and the intelligent bamboo sawing method based on visual detection, the raw bamboo is conveyed forwards through the pushing assembly, then the raw bamboo is clamped through the clamping assembly, after the raw bamboo is clamped, the raw bamboo is sawed through the sawing device at the saw blade, and stable sawing is realized through the matching of the pushing assembly and the clamping assembly. The camera is used for identifying whether bamboo joints exist at positions, which are away from the original bamboo sawing end and saw cut by preset fixed lengths, if the bamboo joints exist, the pushing assembly is controlled to push the original bamboo to move forwards by a knot avoiding length distance according to preset knot avoiding lengths, and the original bamboo with the knot avoiding length is removed by sawing to realize knot avoiding. The bamboo joints can be identified and cut to obtain bamboo with fixed length without bamboo joints. The invention can accurately avoid knots by visually detecting the outer diameter of the raw bamboo, can define the cutting length by self, can improve the utilization rate of raw bamboo materials and avoid waste; whole process need not operating personnel and participates in, improves the work efficiency of former bamboo fixed length section, and degree of automation is high, reduces the cost of labor of enterprise.
Further, in the above intelligent bamboo sawing device based on visual inspection, the pushing assembly includes a conveying roller for supporting the raw bamboo and perpendicular to the conveying direction of the raw bamboo.
As can be seen from the above description, the intelligent bamboo sawing device based on visual detection can select any other pushing component such as a conveying roller and the like, and the intelligent bamboo sawing device is matched with a clamping component for use, so that the device is simple and efficient.
Further, in the intelligent bamboo sawing equipment based on visual detection, the conveying device further comprises a gantry frame assembly, the gantry frame assembly is located behind the sawing device along the raw bamboo conveying direction, and the gantry frame assembly is suspended above the axis of the raw bamboo conveying direction;
the portal frame component comprises a movable slide rail and a movable platform connected below the slide rail in a sliding mode, wherein the movable platform is provided with a clamp, and the clamp is used for clamping one end, sawed, of the raw bamboo after sawing and during sawing.
Further, in the above intelligent bamboo sawing device based on visual inspection, the cameras include a first camera, a second camera and a third camera; the first camera is installed on the frame and faces the raw bamboo sawing position, the second camera is installed on the moving platform of the gantry frame assembly and faces the end face of one end of the raw bamboo sawing position, and the third camera is installed above the conveying roller.
According to the above description, in the intelligent bamboo sawing device based on visual detection, the bamboo head is removed after the sawing position is identified when the bamboo head passes through the first camera. And the second camera collects data information of the end face of the bamboo with the head cut off, the data information comprises data such as wall thickness, diameter and the like, and the computer obtains the corresponding sawing fixed length according to the data information. Meanwhile, the third camera moves to a fixed-length position to identify whether bamboo joints exist, if the bamboo joints exist, corresponding joint avoiding length is given, the original bamboo moves forwards, and the moved-out length is removed through saw cutting, so that joint avoiding is achieved.
And finally, clamping one end of the original bamboo which is cut off by the clamp of the gantry assembly after and during the cutting. The moving platform drives the fixed-length raw bamboo which is sawed down to move above the material distribution groove, the raw bamboo is moved to the corresponding material distribution space, and the fixed-length bamboo tubes which are sawn down are classified through the material distribution frame. And the cylinder drives the material distributing frame to rotate so as to realize the classified collection of the bamboo tubes. The former bamboo external diameter of above-mentioned visual inspection and wall thickness isoparametric can be accurate keep away the festival, can self-defined cutting length, can improve the utilization ratio of former bamboo material, avoid extravagant.
Further, in the intelligent bamboo sawing equipment based on visual detection, the sawing device comprises a rocker and a driving assembly; the driving assembly comprises a motor, a crank and a connecting rod, and the motor drives the crank to drive the connecting rod to reciprocate;
the middle part of the rocker is rotatably connected to the rack, one end of the rocker is provided with a saw blade, and the other end of the rocker is hinged with the end part of the connecting rod; the connecting rod drives the rocker to swing around the rack.
In the foregoing description, in the intelligent bamboo sawing device based on visual detection, the motor drives the crank to drive the connecting rod to reciprocate; the connecting rod drives the rocker to swing around the rack, so that the saw blade located at one end of the rocker can reciprocate up and down to saw raw bamboos entering the moving track of the saw blade, the saw blade is lifted after the saw cutting for one time, the raw bamboos to be sawed stretch into again, the saw cutting is carried out again, and the whole operation is simple and rapid. And the structure of the whole sawing device for the raw bamboo is relatively simple, the equipment cost is saved, and the production efficiency is also improved.
Furthermore, among the above-mentioned intelligence saw bamboo equipment based on visual detection, still include and divide the material frame subassembly, divide the material frame subassembly to set up in portal frame subassembly below, divide the material frame subassembly to include rotatable branch silo, divide the silo to include a plurality of material spaces of dividing of spaced, divide the silo below to be equipped with the cylinder, the output of cylinder articulates in branch silo one side and promotes and divide the silo to rotate.
Further, in the intelligent bamboo sawing equipment based on visual detection, the conveying device further comprises a centering assembly;
centering subassembly is located the place ahead along the ascending clamping component of former bamboo direction of delivery, centering subassembly includes centering slide rail, centering piece and centering driving piece, centering piece is equipped with two and slides and sets up on the centering slide rail, is former bamboo accommodation space between two centering pieces, centering piece includes the cylinder of vertical setting.
The clamping assembly comprises two clamping slide rails, two clamping pieces and a clamping driving piece, the two clamping pieces are arranged on the clamping slide rails in a sliding mode, a raw bamboo accommodating space is formed between the two clamping pieces, and the clamping driving piece drives the clamping pieces to move oppositely.
Furthermore, in the intelligent bamboo sawing device based on visual detection, one of the two centering members is provided with two rollers, the other one is provided with one roller, and the three rollers are arranged in a staggered mode in the opposite direction.
It can be known from the description, among the foretell intelligence saw bamboo equipment based on visual detection, former bamboo transmits forward through the conveying roller that promotes the subassembly, because the orientation inaccuracy that promotes the subassembly, consequently sets up and carries out the centering cooperation through centering subassembly to former bamboo to before former bamboo saw cuts, press from both sides tight former bamboo through clamping components, guaranteed the stable cutting of former bamboo, make the cutting site level and smooth. Compared with other modes for conveying raw bamboos in the prior art, the scheme has the advantages that the conveying rollers push and are matched with centering and clamping, so that equipment cost can be saved, and cutting stability can be guaranteed.
The invention also provides a method for sawing bamboo by using the intelligent bamboo sawing equipment based on visual detection, which comprises the following steps:
the pushing assembly pushes the raw bamboo to be conveyed forwards, the centering assembly centers the raw bamboo, the pushing assembly pushes the raw bamboo to a preset sawing position, the clamping assembly clamps the raw bamboo, and finally the raw bamboo is sawed off;
the camera identifies whether a bamboo joint exists at a position which is away from the sawing preset length of the original bamboo sawing end, and if the bamboo joint exists, the pushing assembly is controlled to push the original bamboo to move forwards for a knot-avoiding length distance according to the preset knot-avoiding length, and the original bamboo with the knot-avoiding length is sawn and removed to realize knot avoidance.
The invention also provides a method for sawing bamboo by using the intelligent bamboo sawing equipment based on visual detection, which comprises the following steps:
the raw bamboo is pushed by a conveying roller to be conveyed forwards, after a preset sawing position of the raw bamboo is identified by a first camera, the conveying roller is controlled to enable the preset sawing position of the raw bamboo to move to a sawing position, and the head of the raw bamboo is sawed and removed;
the second camera identifies and collects end face data information of the original bamboo with the head cut off, and corresponding saw cutting preset length is obtained through the data information;
controlling a conveying roller to move the sawing preset fixed-length position of the raw bamboo to a sawing position, and sawing to obtain fixed-length raw bamboo;
the third camera discerns whether there is the bamboo joint apart from the position that saw cuts the preset fixed length of saw cutting of former bamboo saw cutting end, if there is the bamboo joint then according to the predetermined length of keeping away from festival, control the conveying roller and let former bamboo move forward and keep away festival length distance, saw cut and get rid of the length that shifts out and thereby realize keeping away the festival.
Example 1
Referring to fig. 1-6, an intelligent bamboo sawing device based on visual inspection comprises a frame 1, and a conveying device, a sawing device 6 and a visual inspection assembly 7 which are arranged on the frame 1;
the conveying device comprises a pushing assembly 2, a centering assembly 5 and a clamping assembly 3 which are arranged along the conveying direction of the raw bamboo 9;
the sawing device 6 is positioned behind the clamping component 3 along the conveying direction of the raw bamboo 9;
the visual detection assembly 7 comprises a camera and a computer, and the camera, the pushing assembly 2, the centering assembly 5 and the clamping assembly 3 are respectively and electrically connected with the computer;
the camera is used for identifying whether a bamboo joint exists at a position which is away from a sawing preset fixed length of the original bamboo sawing end, if the bamboo joint exists, the control pushing assembly 2 pushes the original bamboo 9 to move forwards to avoid the joint length distance according to the preset joint avoiding length, and the original bamboo which is removed to avoid the joint length is sawn to realize the joint avoidance.
The conveying device further comprises a centering assembly 5 and a clamping assembly 3;
the centering assembly 5 is located in front of the clamping assembly 3 along the raw bamboo conveying direction, the centering assembly 5 comprises two centering slide rails 51, two centering pieces 52 and a centering driving piece 53, the centering pieces 52 are arranged on the centering slide rails 51 in a sliding mode, an accommodating space for the raw bamboo 9 is formed between the two centering pieces 52, and each centering piece 52 comprises a roller 54 which is vertically arranged. Of the two centering members 52, one is provided with two rollers 54, the other with one roller 54, and the three rollers 54 are arranged offset to each other.
The clamping assembly 3 comprises two clamping slide rails 31, two clamping pieces 32 and a clamping driving piece 33, the two clamping pieces 32 are arranged on the clamping slide rails 31 in a sliding mode, a space for accommodating the raw bamboo 9 is reserved between the two clamping pieces 32, and the clamping driving piece 33 drives the clamping pieces 32 to move oppositely.
The bamboo sawing method of the intelligent bamboo sawing equipment based on visual detection comprises the following steps:
the raw bamboo 9 is conveyed forwards through the conveying roller of the pushing assembly 2, then the raw bamboo 9 is centered through the centering assembly 5, the centering driving piece 53 drives the two centering pieces 52 to symmetrically move towards each other on the centering slide rail 51, and the centering pieces 52 are further provided with rollers 54 for centering the raw bamboo on the basis of not influencing the forward conveying of the raw bamboo 9. Further, before the raw bamboo is sawed, the sawing end of the raw bamboo is clamped through the clamping assembly 3, the clamping member 32 is plate-shaped and is provided with strip teeth, so that the clamping member 32 can clamp the raw bamboo more stably, and after the raw bamboo is clamped, the raw bamboo is sawed on the moving track of the saw blade 63, and raw bamboo sections with fixed lengths are obtained.
The camera is used for identifying whether bamboo joints exist at positions, which are away from the original bamboo sawing end and saw cut by preset fixed lengths, if bamboo joints exist, the pushing component 2 is controlled to push the original bamboo to move forwards by a joint avoiding length distance according to preset joint avoiding lengths, and the original bamboo with the joint avoiding length is removed by sawing to realize joint avoiding. The bamboo joints can be identified and cut to obtain bamboo with fixed length without bamboo joints.
Above-mentioned intelligence saw bamboo equipment and saw bamboo method based on visual detection can be accurate keep away the festival, can self-defined cutting length, can improve the utilization ratio of former bamboo material, avoids extravagant. The raw bamboo is conveyed forwards through the conveying roller of the pushing assembly 2, then the raw bamboo is centered through the centering assembly 5, and before the raw bamboo is sawed, the raw bamboo is clamped through the clamping assembly 3, so that the stable cutting of the raw bamboo is guaranteed, and the cutting point is smooth. The structure of the centering components 5 of the rollers 54 which are alternately staggered is more beneficial to the alignment of the original bamboo. Compared with other modes for conveying raw bamboos in the prior art, the scheme has the advantages that the conveying rollers push and are matched with centering and clamping, so that equipment cost can be saved, and cutting stability can be guaranteed.
Example 2
Referring to fig. 1-6, an intelligent bamboo sawing device based on visual inspection comprises a frame 1, and a conveying device, a sawing device 6 and a visual inspection assembly 7 which are arranged on the frame 1;
the conveying device comprises a pushing assembly 2 and a clamping assembly 3 which are arranged along the conveying direction of the raw bamboo; the pushing assembly 2 comprises a conveying roller for supporting the raw bamboo and being perpendicular to the conveying direction of the raw bamboo.
The sawing device 6 is positioned behind the clamping component 3 along the raw bamboo conveying direction;
the visual detection assembly 7 comprises a camera and a computer, and the camera, the pushing assembly 2, the centering assembly 5 and the clamping assembly 3 are respectively and electrically connected with the computer;
the camera is used for identifying whether a bamboo joint exists at a position which is away from the sawing preset fixed length of the original bamboo sawing end, if the bamboo joint exists, the control pushing assembly 2 pushes the original bamboo to move forwards to avoid the joint length distance according to the preset joint avoiding length, and the original bamboo which is removed to avoid the joint length is sawn to realize the joint avoidance.
The conveying device further comprises a portal frame component 4, the portal frame component 4 is positioned behind the sawing device 6 along the raw bamboo conveying direction, and the portal frame component 4 is suspended above the axis of the raw bamboo conveying position;
portal frame subassembly 4 includes movable slide rail and sliding connection at the moving platform 41 of slide rail below, be equipped with anchor clamps 42 on the moving platform 41, anchor clamps 42 are used for the one end that the former bamboo of centre gripping was saw cut off after sawing and when sawing. The portal frame assembly 4 further comprises a motor, and the motor drives the moving platform 41 to move on the moving slide rail through chain transmission.
The cameras include a first camera 71, a second camera 72 and a third camera 73; the first camera 71 is installed on the machine frame 1 and faces the raw bamboo sawing position, the second camera 72 is installed on the moving platform 41 of the portal frame component 4 and faces the end face of one end of the raw bamboo sawing position, and the third camera 73 is installed above the conveying roller.
Intelligence saw bamboo equipment based on visual detection still includes and divides 8 subassemblies of material shelf assembly, divide material shelf assembly 8 to set up in portal frame subassembly 4 below, divide material shelf assembly 8 to include rotatable minute silo 81, divide silo 81 to include a plurality of material spaces of dividing of spaced, divide silo 81 below to be equipped with cylinder 82, the output of cylinder 82 articulates in dividing silo 81 one side and promotes and divide silo 81 to rotate.
The bamboo sawing method of the intelligent bamboo sawing equipment based on visual detection comprises the following steps:
the raw bamboo is pushed by a conveying roller to be conveyed forwards, after the preset sawing position of the raw bamboo is identified by a first camera 71, the conveying roller is controlled to enable the preset sawing position of the raw bamboo to move to a sawing position, and the head of the raw bamboo is sawed and removed;
the second camera 72 identifies and collects data information of the end face of the original bamboo with the head cut off, and corresponding preset sawing length is obtained through the data information;
controlling a conveying roller to move the sawing preset fixed-length position of the raw bamboo to a sawing position, and sawing to obtain fixed-length raw bamboo;
the third camera 73 identifies whether a bamboo joint exists at a position which is away from the original bamboo sawing end and is in a sawing preset fixed length position, and controls the conveying roller to enable the original bamboo to move forwards by a knot-avoiding length distance according to a preset knot-avoiding length if the bamboo joint exists, so that the knot is avoided by sawing to remove the moved length.
Finally, the clamp 42 of the portal frame assembly 4 clamps the end of the raw bamboo which is cut off after and during the cutting. The moving platform 41 drives the fixed-length raw bamboo which is sawn down to move above the material distributing groove 81, the raw bamboo is moved to the corresponding material distributing space, and the fixed-length bamboo tubes which are sawn down are classified through the material distributing frame.
In the intelligent bamboo sawing device and method based on visual detection, the head of the original bamboo is removed after the bamboo head passes through the first camera 71 and the sawing position is identified. The second camera 72 collects data information of the end face of the bamboo with the head cut off, the data information comprises data such as wall thickness and diameter, and the computer obtains a corresponding sawing fixed length according to the data information. Meanwhile, the third camera 73 moves to a fixed-length position to identify whether a bamboo joint exists, if the bamboo joint exists, a corresponding knot-avoiding length is given, the original bamboo moves forwards, and the moved-out length is removed through sawing, so that knot avoidance is achieved. And finally, sorting and collecting the fixed-length bamboo tubes cut off by the saw through the material distribution frame assembly 8.
According to the invention, parameters such as the outer diameter, the wall thickness and the like of the raw bamboo are detected visually, so that the joints can be avoided accurately, the cutting length can be defined by user, the utilization rate of raw bamboo materials can be improved, and waste is avoided; the mode of chain drive removal raw bamboo simple structure, transmission speed is fast, and efficiency is higher. The structure of the roller 54 centering component 5 which is alternately staggered is more beneficial to the alignment of the original bamboo. Whole process need not operating personnel and participates in, improves the work efficiency of former bamboo fixed length section, and degree of automation is high, reduces the cost of labor of enterprise.
Example 3
Referring to fig. 1-6, an intelligent bamboo sawing device based on visual inspection comprises a frame 1, and a conveying device, a sawing device 6 and a visual inspection assembly 7 which are arranged on the frame 1;
the conveying device comprises a pushing assembly 2 and a clamping assembly 3 which are arranged along the conveying direction of the raw bamboo; the pushing assembly 2 comprises a conveying roller for supporting the raw bamboo and being perpendicular to the conveying direction of the raw bamboo.
The sawing device 6 is positioned behind the clamping component 3 along the raw bamboo conveying direction;
the visual detection assembly 7 comprises a camera and a computer, and the camera, the pushing assembly 2, the centering assembly 5 and the clamping assembly 3 are respectively and electrically connected with the computer;
the camera is used for identifying whether a bamboo joint exists at a position which is away from the sawing preset fixed length of the original bamboo sawing end, if the bamboo joint exists, the control pushing assembly 2 pushes the original bamboo to move forwards to avoid the joint length distance according to the preset joint avoiding length, and the original bamboo which is removed to avoid the joint length is sawn to realize the joint avoidance.
The conveying device further comprises a centering assembly 5 and a clamping assembly 3;
the centering assembly 5 is located in front of the clamping assembly 3 along the raw bamboo conveying direction, the centering assembly 5 comprises two centering slide rails 51, two centering pieces 52 and a centering driving piece 53, the centering pieces 52 are arranged on the centering slide rails 51 in a sliding mode, a raw bamboo accommodating space is formed between the two centering pieces 52, and each centering piece 52 comprises a roller 54 which is vertically arranged. Of the two centering members 52, one is provided with two rollers 54, the other with one roller 54, and the three rollers 54 are arranged offset to each other.
The clamping assembly 3 comprises two clamping slide rails 31, two clamping pieces 32 and a clamping driving piece 33, the two clamping pieces 32 are arranged on the clamping slide rails 31 in a sliding mode, a raw bamboo accommodating space is formed between the two clamping pieces 32, and the clamping driving piece 33 drives the clamping pieces 32 to move oppositely.
The sawing device 6 comprises a rocker 61 and a driving assembly 62; the driving assembly 62 comprises a motor, a crank 622 and a connecting rod 623, and the motor drives the crank 622 to drive the connecting rod 623 to reciprocate;
the middle part of the rocker 61 is rotatably connected to the frame 1, one end of the rocker 61 is provided with a saw blade 63, and the other end of the rocker 61 is hinged with the end part of the connecting rod 623; the connecting rod 623 drives the rocker 61 to swing around the frame 1.
One end of the rocker 61 connected with the connecting rod 623 is provided with a saw blade 63 driving motor 621, and the saw blade 63 driving motor 621 drives the saw blade 63 to rotate through belt connection. The drive assembly 62 also includes a speed reducer 624 connected to the motor 621.
The bamboo sawing method of the intelligent bamboo sawing equipment based on visual detection comprises the following steps:
the raw bamboos are conveyed forwards through the conveying rollers of the pushing assembly 2, then the raw bamboos are centered through the centering assembly 5, the centering driving piece 53 drives the two centering pieces 52 to symmetrically move oppositely on the centering slide rail 51, the centering pieces 52 are further provided with rollers 54, and the raw bamboos are centered on the basis that the forward conveying of the raw bamboos is not influenced. Further, before the raw bamboo is sawed, the sawing end of the raw bamboo is clamped through the clamping assembly 3, the clamping member 32 is plate-shaped and is provided with strip teeth, so that the clamping member 32 can clamp the raw bamboo more stably, after the raw bamboo is clamped, the raw bamboo is on the moving track of the saw blade 63, and the motor 621 drives the crank 622 to drive the connecting rod 623 to reciprocate; the connecting rod 623 drives the rocker 61 to swing around the rack 1, so that the saw blade 63 at one end of the rocker 61 can reciprocate up and down to saw raw bamboos entering the moving track of the saw blade 63, the saw blade 63 is lifted after one-time saw cutting, the raw bamboos to be sawed stretch into again and saw cut again, and the whole operation is simple and rapid. Sawing the raw bamboo to obtain raw bamboo sections with fixed length.
The camera is used for identifying whether a bamboo joint exists at a position which is away from the sawing preset fixed length of the original bamboo sawing end, if the bamboo joint exists, the control pushing assembly 2 pushes the original bamboo to move forwards to avoid the joint length distance according to the preset joint avoiding length, and the original bamboo which is removed to avoid the joint length is sawn to realize the joint avoidance. The bamboo joints can be identified and cut to obtain bamboo with fixed length without bamboo joints.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent modifications made by the present invention and the contents of the accompanying drawings, which are directly or indirectly applied to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. An intelligent bamboo sawing device based on visual detection is characterized by comprising a rack, a conveying device, a sawing device and a visual detection assembly, wherein the conveying device, the sawing device and the visual detection assembly are arranged on the rack;
the conveying device comprises a pushing assembly, a centering assembly and a clamping assembly which are arranged along the conveying direction of the raw bamboo;
the sawing device is positioned behind the clamping assembly along the raw bamboo conveying direction;
the vision detection assembly comprises a camera and a computer, and the camera, the pushing assembly, the centering assembly and the clamping assembly are respectively and electrically connected with the computer;
the camera is used for identifying whether bamboo joints exist at positions, which are away from the sawing end of the original bamboo and saw cut to preset fixed lengths, if the bamboo joints exist, the control pushing assembly pushes the original bamboo to move forwards to avoid the length distance of the joints according to the preset joint avoiding length, and the original bamboo which is removed to avoid the length is sawn to realize the joint avoiding.
2. The intelligent bamboo sawing device based on visual inspection according to claim 1, wherein the pushing assembly comprises conveying rollers for supporting the raw bamboo and perpendicular to the conveying direction of the raw bamboo.
3. The intelligent bamboo sawing apparatus based on visual inspection according to claim 2, wherein the conveying device further comprises a gantry frame assembly, the gantry frame assembly is located behind the sawing device along the raw bamboo conveying direction, and the gantry frame assembly is suspended above the axis of the raw bamboo conveying direction;
the portal frame component comprises a movable slide rail and a movable platform connected below the slide rail in a sliding mode, wherein the movable platform is provided with a clamp, and the clamp is used for clamping one end, sawed, of the raw bamboo after sawing and during sawing.
4. The intelligent bamboo sawing device based on visual inspection according to claim 3, wherein the cameras comprise a first camera, a second camera and a third camera; the first camera is installed on the frame and faces the raw bamboo sawing position, the second camera is installed on the moving platform of the gantry frame assembly and faces the end face of one end of the raw bamboo sawing position, and the third camera is installed above the conveying roller.
5. The intelligent bamboo sawing apparatus based on visual inspection according to claim 1, wherein the sawing means comprises a rocker and a drive assembly; the driving assembly comprises a motor, a crank and a connecting rod, and the motor drives the crank to drive the connecting rod to reciprocate;
the middle part of the rocker is rotationally connected to the rack, one end of the rocker is provided with a saw blade, and the other end of the rocker is hinged with the end part of the connecting rod; the connecting rod drives the rocker to swing around the rack.
6. The intelligent bamboo sawing device based on the visual detection as claimed in claim 1, further comprising a material distribution frame assembly, wherein the material distribution frame assembly is arranged below the portal frame assembly, the material distribution frame assembly comprises a rotatable material distribution groove, the material distribution groove comprises a plurality of material distribution spaces at intervals, a cylinder is arranged below the material distribution groove, and an output end of the cylinder is hinged to one side of the material distribution groove and pushes the material distribution groove to rotate.
7. The intelligent bamboo sawing device based on visual inspection according to claim 1, wherein the conveying device further comprises a centering assembly;
the centering assembly is positioned in front of the clamping assembly in the raw bamboo conveying direction and comprises two centering slide rails, centering pieces and a centering driving piece, the centering pieces are arranged on the centering slide rails in a sliding mode, a raw bamboo accommodating space is formed between the two centering pieces, and each centering piece comprises a roller which is vertically arranged;
the clamping assembly comprises two clamping slide rails, two clamping pieces and a clamping driving piece, the two clamping pieces are arranged on the clamping slide rails in a sliding mode, a raw bamboo accommodating space is formed between the two clamping pieces, and the clamping driving piece drives the clamping pieces to move oppositely.
8. The intelligent bamboo sawing apparatus based on visual inspection according to claim 7 wherein two rollers are provided on one of the two centering members and one roller is provided on the other centering member, and the three rollers are arranged in a staggered manner.
9. A method for sawing bamboo by using the intelligent bamboo sawing device based on visual inspection according to claim 1, characterized by comprising the following steps:
the pushing assembly pushes the raw bamboo to be conveyed forwards, the centering assembly centers the raw bamboo, the pushing assembly pushes the raw bamboo to a preset sawing position, the clamping assembly clamps the raw bamboo, and finally the raw bamboo is sawed off;
the camera identifies whether a bamboo joint exists at a position which is away from the sawing preset length of the original bamboo sawing end, and if the bamboo joint exists, the pushing assembly is controlled to push the original bamboo to move forwards for a knot-avoiding length distance according to the preset knot-avoiding length, and the original bamboo with the knot-avoiding length is sawn and removed to realize knot avoidance.
10. A method for sawing bamboo by using the intelligent bamboo sawing device based on visual inspection according to claim 4, and is characterized by comprising the following steps:
the raw bamboo is pushed by a conveying roller to be conveyed forwards, after a preset sawing position of the raw bamboo is identified by a first camera, the conveying roller is controlled to enable the preset sawing position of the raw bamboo to move to a sawing position, and the head of the raw bamboo is sawn and removed;
the second camera identifies and collects end face data information of the original bamboo with the head cut off, and corresponding saw cutting preset length is obtained through the data information;
controlling a conveying roller to move the sawing preset fixed-length position of the raw bamboo to a sawing position, and sawing to obtain fixed-length raw bamboo;
the third camera discerns whether there is the bamboo joint apart from the position that saw cuts the preset fixed length of saw cutting of former bamboo saw cutting end, if there is the bamboo joint then according to the predetermined length of keeping away from festival, control the conveying roller and let former bamboo move forward and keep away festival length distance, saw cut and get rid of the length that shifts out and thereby realize keeping away the festival.
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| CN202211619625.7A CN115609707A (en) | 2022-12-16 | 2022-12-16 | Intelligent bamboo sawing equipment and method based on visual detection |
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| CN202211619625.7A CN115609707A (en) | 2022-12-16 | 2022-12-16 | Intelligent bamboo sawing equipment and method based on visual detection |
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Application publication date: 20230117 |