CN212352466U - Intelligent vision profiling stone cutting robot - Google Patents

Abstract

The utility model discloses an intelligence vision profile modeling stone material cutting robot, the utility model discloses on the basis of traditional profile modeling machine, through introducing machine vision, the visual operating technique of robot technique and image figure, carry out the structural transformation to traditional profile modeling machine and upgrade and increase one set of smart machine and dock to original machine on, increased "eyes" and "brain" in other words, change into vision profile modeling stone material cutting robot. The utility model discloses an image figure is visual, and its easy operation can realize many machines of alone simultaneous management operation, has reduced the reliance to the especially skilled workman of workman, supports the two-sided complicated dysmorphism processing of multistage, has improved the machining precision, has effectively reduced the work load of polishing the link at the back.

Description

Intelligent vision profiling stone cutting robot

Technical Field

The utility model relates to a mechanical cutting field specifically is an intelligence vision profile modeling stone material cutting robot.

Background

At present, stone material dysmorphism processing mainly has five kinds of processing equipment of hand drawing data, single arm formula template profiling mechanism, single arm formula numerical control profiling mechanism, multiaxis linkage numerical control bridge type cutting machine, numerical control rope saw, but separately exists following shortcoming:

manually pulling the device according to the following steps: the saw blade is pulled manually by a knife along the drawn curve to cut, only one saw blade can be operated by one person, the operation is dangerous, time and labor are wasted, and the efficiency of the subsequent polishing link is reduced due to poor precision;

single arm template copying machine: complex curves, particularly curves with corners, cannot be processed, one curve can be processed only by using one template at a time, and the cutting starting position needs manual tool setting;

single-arm type numerical control copying machine: high-quality workers who need to understand CAD and G code programming are required, manual tool setting is required for a cutting starting position, and only one surface can be processed at a time;

multi-axis linkage numerical control bridge type cutting machine: high-quality workers needing to understand CAD and G code programming are needed, manual tool setting is needed for a cutting starting position, and the cost of the whole machine is high;

numerical control rope saw: low efficiency, high quality workers who need to understand CAD and G code programming, and the cutting start position needs manual tool setting, and the complete machine and the consumable diamond wire saw used are costly.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the defects of five processing devices of current hand-pulling, single-arm template copying machine, single-arm numerical control copying machine, multi-axis linkage numerical control bridge type cutting machine and numerical control rope saw in the aspects of processing precision, work efficiency, processing cost, worker quality and the like, and providing an intelligent vision copying stone cutting robot.

In order to achieve the above object, the utility model provides a following technical scheme: on the basis of a traditional profiling machine, a workbench of the profiling machine is modified into a rotatable workbench, intelligent equipment is added, the profiling machine mainly comprises an industrial personal computer with intelligent software, an industrial camera, a positioning guiding rule, a shadowless lamp light source, the workbench, a laser striping machine, a workbench trolley guide rail, an oil cylinder piston, a circular saw bit, an X-axis direction lead screw and a Z-axis direction lead screw, the industrial personal computer with the intelligent software is positioned on one side of the workbench trolley guide rail, the workbench is horizontally arranged above the workbench trolley guide rail, the positioning guiding rule, the oil cylinder piston and stone blocks are fixed above the workbench, the X-axis direction lead screw and the Z-axis direction lead screw are respectively horizontally and vertically arranged, the X-axis direction lead screw is integrally positioned on the Z-axis direction lead screw, the circular saw bit is positioned on the X-axis direction lead screw through a sliding block, the industrial camera is positioned right ahead of the motion direction of, the shadowless lamp light sources are positioned at two sides of the industrial camera, and the laser striping machine is positioned at one side of the workbench and corresponds to the workbench.

Preferably, the conventional copying machine is of the single arm type, but can also be of the bridge type.

Preferably, the cutting sequence of the workbench is first 90 degrees and then 0 degree, and the cutting sequence can also be first 0 degree and then 90 degrees.

Preferably, the worktable moves on the worktable guide rail along the Y-axis direction, the circular saw bit can only move along the X-axis direction and the Z-axis direction, and the cutting is completed by the movement of the worktable on the worktable guide rail along the Y-axis direction.

Preferably, the location guiding rule is provided with two places altogether, and two places location guiding rules are respectively through the fix with screw in the edge of workstation to two places location guiding rule mutually perpendicular, the hydro-cylinder piston passes through the bolt fastening in the contralateral edge of location guiding rule, fixes the stone of waiting to cut jointly through the cooperation of location guiding rule and hydro-cylinder piston.

Preferably, the outside of industry camera is provided with camera dustproof and waterproof anticollision safety cover, be provided with the camera crane in the camera dustproof and waterproof anticollision safety cover, the top of camera crane has three-dimensional support through the bolt fastening, the top of three-dimensional support has industry camera through the fix with screw, and shadowless lamp light source and laser striping machine are all fixed through ordinary fixed bolster installation. The industrial camera can effectively play a role in protection through the dustproof, waterproof and anti-collision protective cover of the camera, the service life is prolonged, the industrial camera can be subjected to height adjustment through the camera lifting frame, the posture of the industrial camera is conveniently adjusted through the three-dimensional support, and the industrial camera is ensured to be centered and faces a required shooting area to finally realize accurate measurement and positioning; the shadowless lamp light source irradiates the surface of the stone, so that the brightness uniformity of the surface of the stone is ensured, the influence of surrounding light is reduced, the industrial camera is ensured to acquire stable and clear pictures, and the accuracy of automatic identification is improved; the laser line marking instrument is used for detecting the verticality of the stone.

Preferably, the industrial personal computer with the intelligent software is provided with a display screen, a plurality of functions are arranged in the industrial personal computer, a protection cover door switch button, a photographing button, a length determining button, a vertex determining button, a contour extraction button, a tool path calculating button, a tool path increasing button, a tool path deleting button and a cutting starting button are specifically arranged, automatic control is achieved through the industrial personal computer with the intelligent software, and cutting accuracy and working efficiency are effectively improved.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the length (namely the cutting starting point and the cutting end point) and the vertex of the stone block are determined by automatic photographing measurement, the tool path data is automatically generated according to the curve contour, the tool is automatically set at the cutting starting position, the operation is simple, and the automation degree is high.

2. The method has no any experience requirement on workers, and does not need CAD and G code programming bases.

3. The automatic cutting machine is simple to operate, and multiple machines can be easily managed and operated by one person at the same time through full-automatic cutting.

4. Support complex curve profiling and multi-section curve continuous profiling.

5. While supporting continuous profiling of both sides.

6. All the shafts are controlled digitally, and the cutting precision is high.

Drawings

Fig. 1 is a schematic view of the overlooking composition structure of the middle worktable of the utility model at 90 degrees.

Fig. 2 is a schematic view of the overlooking composition structure of the middle working table at 0 degree according to the present invention.

Fig. 3 is a front view of the structure of the industrial camera of the present invention.

In the figure: 1-an industrial personal computer with intelligent software, 2-an industrial camera, 3-a positioning running rule, 4-a shadowless lamp light source, 5-a workbench, 6-a laser striping machine, 7-a workbench guide rail, 8-a fixed piston, 9-a circular saw cutter head, 10-an X-axis direction screw rod, 11-a Z-axis direction screw rod, 12-a camera dustproof and waterproof anti-collision protective cover, 13-a camera lifting frame, 14-a three-dimensional support and 15-stone.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: on the basis of a traditional profiling machine, a workbench of the profiling machine is modified into a rotatable workbench, intelligent equipment is added, and the profiling machine mainly comprises an industrial personal computer 1 with intelligent software, an industrial camera 2, a positioning guiding rule 3, a shadowless lamp light source 4, a workbench 5, a laser line marking instrument 6, a workbench trolley guide rail 7, an oil cylinder piston 8, a circular saw bit 9, an X-axis direction lead screw 10 and a Z-axis direction lead screw 11, wherein the industrial personal computer 1 with the intelligent software is positioned at one side of the workbench trolley guide rail 7, the workbench 5 is horizontally arranged above the workbench trolley guide rail 7, the positioning guiding rule 3, the oil cylinder piston 8 and a stone block 15 are fixed above the workbench 5, the X-axis direction lead screw 10 and the Z-axis direction lead screw 11 are respectively horizontally and vertically arranged, the X-axis direction lead screw 10 is integrally positioned on the Z-axis direction lead screw 11, the circular saw bit 9 is positioned on the X-axis direction lead screw 10 through, the industrial camera 2 is positioned right in front of the movement direction of the workbench 5, the shadowless lamp light sources 4 are positioned on two sides of the industrial camera 2, and the laser striping machine 6 is positioned on one side of the workbench 5 and corresponds to the workbench 5.

Conventional copying machines are of the single arm type but may also be of the bridge type.

The cutting sequence of the worktable 5 is 90 degrees and then 0 degree, and the cutting sequence can also be 0 degree and then 90 degrees.

The workbench 5 moves on the workbench guide rail 7 along the Y-axis direction, the circular saw bit 9 can only move along the X-axis direction and the Z-axis direction, and the cutting is completed by the movement of the workbench 5 on the workbench guide rail 7 along the Y-axis direction.

The location guiding rule 3 is provided with two departments altogether, and two department location guiding rules 3 are respectively through the fix with screw in the edge of workstation 5 to two department location guiding rules 3 mutually perpendicular, oil cylinder piston 8 is fixed in the edge of 3 offsides in location guiding rule through the bolt, fixes the stone 15 of waiting to cut jointly through the cooperation of location guiding rule 3 and oil cylinder piston 8.

The outside of industry camera 2 is provided with camera dustproof and waterproof crashproof safety cover 12, be provided with camera crane 13 in the camera dustproof and waterproof crashproof safety cover 12, the top of camera crane 13 is passed through the bolt fastening and is had three-dimensional support 14, the top of three-dimensional support 14 is passed through the fix with screw and is had industry camera 2, and shadowless lamp light source 4 and laser marking appearance 6 are all fixed through ordinary fixed bolster installation. The industrial camera 2 can effectively play a role in protection through the camera dustproof and waterproof anti-collision protection cover 12, the service life is prolonged, the industrial camera 2 can be subjected to height adjustment through the camera lifting frame 13, the posture of the industrial camera 2 is conveniently adjusted through the three-dimensional support 14, and accurate measurement and positioning of the industrial camera 2 facing a required shooting area in the middle are ensured; the shadowless lamp light source 4 irradiates the surface of the stone block 15, and is used for ensuring the brightness uniformity of the surface of the stone block 15, reducing the influence of surrounding light, ensuring that the industrial camera 2 obtains a stable and clear picture, and being beneficial to improving the accuracy of automatic identification; the laser striping machine 6 is used to detect the perpendicularity of the stone block 15.

Be provided with the display screen on taking intelligent software's the industrial computer 1, its inside is provided with a plurality of functions, specifically there is "protection cover door-trip" button, "shoot" button, "confirm length" button, "confirm summit" button, "contour extraction" button, "calculate the tool path" button, "increase the tool path" button, "delete the tool path" button and "start cutting" button, realize automated control through taking intelligent software's industrial computer 1, the precision and the work efficiency of cutting have effectively been improved.

The utility model discloses a concrete embodiment: choose single armed formula profiling mechanism for use, its cutting order is that workstation 5 degree 90 degrees 0 degree earlier, and its cutting operation flow is two-sided profile modeling, and its specific cutting flow is:

step 1: when the workbench 5 is at 90 degrees, a worker puts the stone block 15 to be profiled, which is drawn with one or more processing curves (the color of the processing curve is obviously different from the color of the surface of the stone block), on the workbench 5 and clings to the positioning guiding rule 3, ensures the verticality of the stone block 15 by contrasting the laser striping machine 6, and if the stone block is a small stone block, the stone block 15 needs to be tightly propped by the oil cylinder piston 8, so as to ensure the stability of the stone block 15 during profiling cutting;

step 2: clicking a shooting button on an interface of an industrial personal computer 1 with intelligent software, automatically controlling the whole process through the intelligent software, automatically returning a workbench 5 to an original point along a workbench trolley guide rail 7, then automatically turning on a shadowless lamp light source 4, and then automatically shooting by an industrial camera 2 in front of the workbench 5;

and step 3: the upper edge and the left and right edges of the stone 15 are framed on an image displayed on an interface of the industrial personal computer 1 with intelligent software, the length of 0-degree profiling cutting of the stone is automatically obtained according to the left and right edges of the stone by clicking a length determining button on the interface of the industrial personal computer 1 with the intelligent software, the coordinate of a cutting starting point is automatically calculated according to a cutting end point coordinate preset at the position of the positioning guiding rule 3, and then the coordinate of the highest point of the stone in the 90-degree direction is automatically calculated according to the upper edge of the stone by clicking a vertex determining button on the interface of the industrial personal computer 1;

and 4, step 4: the method comprises the steps that each section of curve of the whole stone block 15 is respectively selected on an image displayed on an interface of the industrial personal computer 1 with intelligent software, and the drawn curve has obvious color difference with the stone block 15, so that the contour of the curve can be automatically obtained by using a built-in machine vision recognition algorithm through a contour extraction button on the interface of the industrial personal computer 1 with the intelligent software, and if the contour is failed to be automatically recognized, points can be directly selected and connected on the image manually to form the contour of the curve;

and 5: clicking a 'tool path calculation' button on an interface of the industrial personal computer 1 with intelligent software, automatically calculating coordinates of all tool paths in the 90-degree direction based on parameters such as the lower edge of a curve contour, a preset slicing distance, a cutting allowance and the like, and visually overlapping the coordinates on an image, wherein the interface of the industrial personal computer 1 with the intelligent software is provided with a 'tool path adding' button and a 'tool path deleting' button, so that the tool paths can be flexibly and visually added and deleted on the image according to the needs;

step 6: a trolley rotating button of a panel below the industrial personal computer 1 with intelligent software is used for rotating the workbench 5 to 0 degree;

and 7: clicking a shooting button on an interface of an industrial personal computer 1 with intelligent software, automatically returning a workbench 5 to an original point along a workbench trolley guide rail 7 under the control of the intelligent software, then automatically turning on a shadowless lamp light source 4, and then automatically shooting by an industrial camera 2 in front of the workbench 5;

and 8: the upper edge and the left and right edges of the stone block 15 are framed on an image displayed on an interface of the industrial personal computer 1 with intelligent software, the length of 90-degree copying cutting of the stone block is automatically obtained according to the left and right edges of the stone block 15 by clicking a length determining button of the interface of the industrial personal computer 1 with intelligent software, the coordinate of a cutting starting point is automatically calculated according to a cutting end point coordinate preset by the positioning guiding rule 3, and then the coordinate of the highest point of the stone block in the direction of 0 degree is automatically calculated according to the upper edge of the stone block 15 by clicking a determined vertex of the interface of the industrial personal computer 1;

and step 9: the method comprises the steps that each section of curve of the whole stone block 15 is respectively selected on an image displayed on an interface of the industrial personal computer 1 with intelligent software, and the drawn curve has obvious color difference with the stone block 15, so that a built-in machine vision recognition algorithm can be used for automatically obtaining a wheel of the curve through a contour extraction button on the interface of the industrial personal computer 1 with the intelligent software, and if the automatic recognition of the contour fails, a point can be directly selected on the image manually to form a contour of the curve;

step 10: clicking a 'tool path calculation' button on an interface of the industrial personal computer 1 with intelligent software, automatically calculating all tool path coordinates in the 0-degree direction based on parameters such as the lower edge of the outline, the preset slicing distance, the cutting allowance and the like, and visually overlapping the tool path coordinates on an image, wherein the interface of the industrial personal computer 1 with the intelligent software is provided with a 'tool path adding' button and a 'tool path deleting' button, so that tool paths can be flexibly and visually added and deleted on the image according to the requirements;

step 11: and starting profiling cutting by using a 'start cutting' button of an interface of the industrial personal computer 1 with intelligent software, enabling a circular saw bit head 9 to be positioned through an X-axis direction lead screw 10 and a Z-axis direction lead screw 11 according to the vertex coordinates of the stone blocks determined in the step 8, the tool path coordinates determined in the step 10 and the preset single tool lowering amount, then enabling the workbench 5 to reciprocate at the starting point determined in the step 3 and the preset end point along the workbench guide rail 7, automatically turning to the other direction after all tool paths in one direction are cut, and cutting according to the vertex coordinates of the stone blocks determined in the step 3, the tool path coordinates determined in the step 5, the preset single tool lowering amount and the starting point and the end point determined in the step 8.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (7)

1. The utility model provides an intelligence vision profile modeling stone material cutting machine people which characterized in that: on the basis of a traditional profiling machine, a workbench of the profiling machine is reformed into a rotatable workbench, intelligent equipment is added, and the profiling machine mainly comprises an industrial personal computer (1) with intelligent software, an industrial camera (2), a positioning guiding rule (3), a shadowless lamp light source (4), a workbench (5), a laser line marker (6), a workbench trolley guide rail (7), an oil cylinder piston (8), a circular saw bit (9), an X-axis direction lead screw (10) and a Z-axis direction lead screw (11), wherein the industrial personal computer (1) with the intelligent software is positioned at one side of the workbench trolley guide rail (7), the workbench (5) is horizontally arranged above the workbench trolley guide rail (7), the positioning guiding rule (3), the oil cylinder piston (8) and a stone block (15) are fixed above the workbench (5), the X-axis direction lead screw (10) and the Z-axis direction lead screw (11) are respectively horizontally and vertically arranged, wherein X axle direction lead screw (10) wholly is located Z axle direction lead screw (11), circular saw tool bit (9) are located X axle direction lead screw (10) through the slider, industry camera (2) are located workstation (5) direction of motion's dead ahead, shadowless lamp light source (4) are located the both sides of industry camera (2), laser striping machine (6) are located one side of workstation (5) and correspond with workstation (5).

2. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the conventional copying machine is of the single arm type but may also be of the bridge type.

3. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the cutting sequence of the workbench (5) is from 90 degrees to 0 degree, and the cutting sequence can be from 0 degree to 90 degrees.

4. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the workbench (5) moves on a workbench trolley guide rail (7) along the Y-axis direction.

5. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the positioning guiding rule (3) is provided with two positions, the two positioning guiding rules (3) are fixed on the edge of the workbench (5) through screws respectively, the two positioning guiding rules (3) are perpendicular to each other, and the oil cylinder piston (8) is fixed on the edge of the opposite side of the positioning guiding rule (3) through a bolt.

6. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the outside of industry camera (2) is provided with camera dustproof and waterproof anticollision safety cover (12), be provided with camera crane (13) in camera dustproof and waterproof anticollision safety cover (12), the top of camera crane (13) is passed through the bolt fastening and is had three-dimensional support (14), the top of three-dimensional support (14) is passed through the fix with screw and is had industry camera (2), and shadowless lamp light source (4) and laser striping machine (6) are all fixed through ordinary fixed bolster installation.

7. The intelligent vision profiling stone cutting robot as claimed in claim 1, wherein: the industrial personal computer (1) with the intelligent software is provided with a display screen, a plurality of functions are arranged in the industrial personal computer, and the industrial personal computer is specifically provided with a protection cover door switch button, a photographing button, a length determining button, a vertex determining button, a contour extraction button, a tool path calculating button, a tool path increasing button, a tool path deleting button and a cutting starting button.

Images