CN213004148U - Cutter adjusting device of numerical control machine tool - Google Patents
Cutter adjusting device of numerical control machine tool Download PDFInfo
- Publication number
- CN213004148U CN213004148U CN202021370473.8U CN202021370473U CN213004148U CN 213004148 U CN213004148 U CN 213004148U CN 202021370473 U CN202021370473 U CN 202021370473U CN 213004148 U CN213004148 U CN 213004148U
- Authority
- CN
- China
- Prior art keywords
- cutter
- mechanical arm
- control machine
- numerical control
- camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Numerical Control (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Abstract
The utility model provides a cutter adjusting device of digit control machine tool, it is through carrying out the binocular camera to the cutter and treating the processing object and examine and carry out the real-time gesture that space position appearance detected and confirm the cutter for treating the spatial position of processing object and cutter self to adjust the cutter with this and for treating the distance of processing object and the gesture of cutter self, thereby make the cutter can treat the processing object thing and carry out accurate and efficient processing production and improve the processing yields of digit control machine tool.
Description
Technical Field
The utility model relates to a technical field of digit control machine tool, in particular to cutter adjusting device of digit control machine tool.
Background
At present, numerical control machine tools are widely used for machining and producing machine parts, and the numerical control machine tools can machine metal parts in different forms such as cutting and stamping according to preset machining drawings, so that the metal parts are machined and converted into parts with corresponding shapes and sizes. Because the numerical control machine tool controls the cutter to carry out different machining procedures such as different cutting, milling or stamping on the metal piece through a preset program to form parts, the distance and the posture of the cutter relative to the metal piece in the machining process can influence the machining accuracy of the cutter to the metal piece, and if the cutter has distance deviation or posture deviation relative to the metal piece, the cutter can mistakenly cut the metal piece, so that the metal piece is integrally scrapped. Therefore, the accuracy of adjusting and controlling the cutter in the data machine tool directly influences the processing accuracy, yield and efficiency of the parts of the numerical control machine tool.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model provides a cutter adjusting device of a numerical control machine, which comprises a mechanical arm, a cutter, a binocular camera, a pose sensor and an upper computer, wherein the mechanical arm is movably connected with the cutter and is used for changing the position and/or the posture of the cutter relative to an object to be processed; the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed; the pose sensor is arranged on the cutter and is used for detecting real-time attitude information of the cutter; the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively; the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image; the upper computer is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the real-time posture information; therefore, the cutter adjusting device of the numerical control machine tool determines the space position of the cutter relative to the object to be processed and the real-time posture of the cutter through binocular camera detection on the cutter and the object to be processed and space posture detection on the cutter, and adjusts the distance of the cutter relative to the object to be processed and the posture of the cutter, so that the cutter can perform accurate and efficient processing production on the object to be processed and the processing yield of the numerical control machine tool is improved.
The utility model provides a cutter adjusting device of a numerical control machine, which is characterized by comprising an mechanical arm, a cutter, a binocular camera, a pose sensor and an upper computer; wherein the content of the first and second substances,
the mechanical arm is movably connected with the cutter and is used for changing the position and/or posture of the cutter relative to the object to be processed;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed;
the pose sensor is arranged on the cutter and used for detecting real-time attitude information of the cutter;
the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively;
the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image;
the upper computer is further used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the real-time posture information;
further, the mechanical arm comprises a base, a movable arm and a mechanical arm; wherein the content of the first and second substances,
the base is used for providing a fixed frame of the whole mechanical arm;
the movable arm is arranged on the base through a ball bearing, and the movable arm can move in four-axis directions in space relative to the base;
the manipulator is connected with the movable arm through a hinge structure and can move in a six-axis spatial direction relative to the base;
further, the base is made of a metal material, and has a plate-like structure;
the base is provided with an upper side surface and a lower side surface, and four corners of a plate-shaped structure of the base are respectively provided with fixing screw holes penetrating through the upper side surface and the lower side surface;
each fixing screw hole is provided with a fixing screw;
the base is fixedly arranged on the numerical control machine tool through the fixing screw;
further, the tool includes a shank portion and a blade portion; wherein the content of the first and second substances,
the cutter handle part is movably connected with the mechanical arm through a hinge structure;
the blade part is embedded on the handle part;
furthermore, an embedding groove is formed in the cutter handle part, and the width of the embedding groove is matched with that of the blade part;
the blade part is directly inserted into the embedding groove, so that the blade part and the handle part are embedded and combined;
further, the binocular camera comprises two cameras which are arranged on different directions relative to the object to be processed;
each camera comprises a camera lens and a camera angle adjusting holder;
the camera lens is arranged on the camera angle adjusting holder, and the camera angle adjusting holder is used for adjusting the shooting azimuth angle of the camera lens in the horizontal direction and/or the vertical direction;
further, the camera lens is a zoom camera lens;
the camera shooting angle adjusting tripod head is a six-degree-of-freedom camera shooting angle adjusting tripod head;
further, the pose sensor is a three-axis acceleration sensor or a six-axis gyroscope;
further, the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm through a 4G network or a 5G network respectively;
further, the upper computer comprises a data memory, a data processor and a mechanical arm adjusting controller; wherein the content of the first and second substances,
the data memory is used for storing the binocular images and the real-time attitude information;
the data processor is used for carrying out parallax analysis calculation on the binocular images and carrying out attitude deviation analysis calculation on the real-time attitude information;
the mechanical arm adjusting controller is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the result of the parallax analysis calculation;
and the mechanical arm adjusting controller is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the result of the posture deviation analysis calculation.
Compared with the prior art, the cutter adjusting device of the numerical control machine tool comprises a mechanical arm, a cutter, a binocular camera, a pose sensor and an upper computer, wherein the mechanical arm is movably connected with the cutter and is used for changing the position and/or the posture of the cutter relative to an object to be processed; the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed; the pose sensor is arranged on the cutter and is used for detecting real-time attitude information of the cutter; the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively; the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image; the upper computer is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the real-time posture information; therefore, the cutter adjusting device of the numerical control machine tool determines the space position of the cutter relative to the object to be processed and the real-time posture of the cutter through binocular camera detection on the cutter and the object to be processed and space posture detection on the cutter, and adjusts the distance of the cutter relative to the object to be processed and the posture of the cutter, so that the cutter can perform accurate and efficient processing production on the object to be processed and the processing yield of the numerical control machine tool is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of the tool adjusting device of the numerical control machine tool provided by the present invention.
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 efforts belong to the protection scope of the present invention.
Referring to fig. 1, a schematic structural diagram of a tool adjusting device of a numerical control machine tool according to an embodiment of the present invention is shown. The cutter adjusting device of the numerical control machine comprises a mechanical arm, a cutter, a binocular camera, a pose sensor and an upper computer; wherein the content of the first and second substances,
the mechanical arm is movably connected with the cutter and is used for changing the position and/or the posture of the cutter relative to the object to be processed;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed;
the pose sensor is arranged on the cutter and is used for detecting real-time attitude information of the cutter;
the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively;
the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image;
the upper computer is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the real-time posture information.
Preferably, the robot arm comprises a base, a movable arm and a manipulator; wherein the content of the first and second substances,
the base is used for providing a fixed frame of the mechanical arm;
the movable arm is arranged on the base through a ball bearing, and the movable arm can move in four-axis directions in space relative to the base;
the manipulator is connected with the movable arm through a hinge structure and can move in a six-axis spatial direction relative to the base.
Preferably, the base is made of a metal material, and has a plate-like structure;
the base is provided with an upper side surface and a lower side surface, and the four corners of the plate-shaped structure of the base are respectively provided with a fixing screw hole penetrating through the upper side surface and the lower side surface;
each fixing screw hole is provided with a fixing screw;
the base is fixedly arranged on the numerical control machine tool through the fixing screw.
Preferably, the tool comprises a shank portion and a blade portion; wherein the content of the first and second substances,
the handle part is movably connected with the mechanical arm through a hinge structure;
the blade portion is embedded in the handle portion.
Preferably, the knife handle part is provided with an embedding groove, and the width of the embedding groove is matched with that of the blade part;
the blade part is directly inserted into the embedding groove, so that the embedding combination with the handle part is realized.
Preferably, the binocular camera includes two cameras disposed at different orientations with respect to the object to be processed;
each camera comprises a camera lens and a camera angle adjusting holder;
the camera lens is arranged on the camera angle adjusting cloud deck, and the camera angle adjusting cloud deck is used for adjusting the shooting azimuth angle of the camera lens in the horizontal direction and/or the vertical direction.
Preferably, the camera lens is a zoom camera lens;
the camera shooting angle adjusting cloud platform is a six-degree-of-freedom camera shooting angle adjusting cloud platform.
Preferably, the attitude sensor is a three-axis acceleration sensor or a six-axis gyroscope.
Preferably, the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm through a 4G network or a 5G network respectively.
Preferably, the upper computer comprises a data memory, a data processor and a mechanical arm adjusting controller; wherein the content of the first and second substances,
the data memory is used for storing the binocular image and the real-time attitude information;
the data processor is used for carrying out parallax analysis calculation on the binocular image and carrying out attitude deviation analysis calculation on the real-time attitude information;
the mechanical arm adjusting controller is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the result of the parallax analysis calculation;
the mechanical arm adjusting controller is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the result of the posture deviation analysis calculation.
From the content of the above embodiment, the tool adjusting device of the numerical control machine tool comprises a mechanical arm, a tool, a binocular camera, a pose sensor and an upper computer, wherein the mechanical arm is movably connected with the tool, and the mechanical arm is used for changing the position and/or the pose of the tool relative to the object to be processed; the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed; the pose sensor is arranged on the cutter and is used for detecting real-time attitude information of the cutter; the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively; the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image; the upper computer is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the real-time posture information; therefore, the cutter adjusting device of the numerical control machine tool determines the space position of the cutter relative to the object to be processed and the real-time posture of the cutter through binocular camera detection on the cutter and the object to be processed and space posture detection on the cutter, and adjusts the distance of the cutter relative to the object to be processed and the posture of the cutter, so that the cutter can perform accurate and efficient processing production on the object to be processed and the processing yield of the numerical control machine tool is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The cutter adjusting device of the numerical control machine is characterized by comprising a mechanical arm, a cutter, a binocular camera, a pose sensor and an upper computer; wherein the content of the first and second substances,
the mechanical arm is movably connected with the cutter and is used for changing the position and/or posture of the cutter relative to the object to be processed;
the binocular camera is arranged on the mechanical arm and used for shooting binocular images of the cutter and the object to be processed;
the pose sensor is arranged on the cutter and used for detecting real-time attitude information of the cutter;
the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm respectively;
the upper computer is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the binocular image;
and the upper computer is also used for indicating the mechanical arm to change the posture of the cutter relative to the object to be processed according to the real-time posture information.
2. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the mechanical arm comprises a base, a movable arm and a mechanical arm; wherein the content of the first and second substances,
the base is used for providing a fixed frame of the whole mechanical arm;
the movable arm is arranged on the base through a ball bearing, and the movable arm can move in four-axis directions in space relative to the base;
the manipulator is connected with the movable arm through a hinge structure and can move in a six-axis spatial direction relative to the base.
3. The tool adjusting apparatus of a numerical control machine tool according to claim 2, wherein:
the base is made of a metal material and has a plate-like structure;
the base is provided with an upper side surface and a lower side surface, and four corners of a plate-shaped structure of the base are respectively provided with fixing screw holes penetrating through the upper side surface and the lower side surface;
each fixing screw hole is provided with a fixing screw;
the base is fixedly arranged on the numerical control machine tool through the fixing screw.
4. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the tool includes a shank portion and a blade portion; wherein the content of the first and second substances,
the cutter handle part is movably connected with the mechanical arm through a hinge structure;
the blade portion is embedded on the handle portion.
5. The tool adjusting apparatus of a numerical control machine tool according to claim 4, wherein:
the knife handle part is provided with an embedding groove, and the width of the embedding groove is matched with that of the blade part;
the blade part is directly inserted into the embedding groove, so that the blade part and the handle part are embedded and combined.
6. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the binocular camera comprises two cameras which are arranged on different directions relative to the object to be processed;
each camera comprises a camera lens and a camera angle adjusting holder;
the camera lens is arranged on the camera angle adjusting cloud deck, and the camera angle adjusting cloud deck is used for adjusting the shooting azimuth angle of the camera lens in the horizontal direction and/or the vertical direction.
7. The tool adjusting apparatus of a numerical control machine tool according to claim 6, wherein:
the camera lens is a zoom camera lens;
the camera shooting angle adjusting holder is a six-degree-of-freedom camera shooting angle adjusting holder.
8. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the pose sensor is a three-axis acceleration sensor or a six-axis gyroscope.
9. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the upper computer is in signal connection with the binocular camera, the pose sensor and the mechanical arm through a 4G network or a 5G network respectively.
10. The tool adjusting apparatus of a numerical control machine tool according to claim 1, wherein:
the upper computer comprises a data memory, a data processor and a mechanical arm adjusting controller;
wherein the content of the first and second substances,
the data memory is used for storing the binocular images and the real-time attitude information;
the data processor is used for carrying out parallax analysis calculation on the binocular images and carrying out attitude deviation analysis calculation on the real-time attitude information;
the mechanical arm adjusting controller is used for indicating the mechanical arm to change the distance between the cutter and the object to be processed according to the result of the parallax analysis calculation;
and the mechanical arm adjusting controller is also used for indicating the mechanical arm to change the posture of the tool relative to the object to be processed according to the result of the posture deviation analysis calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021370473.8U CN213004148U (en) | 2020-07-10 | 2020-07-10 | Cutter adjusting device of numerical control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021370473.8U CN213004148U (en) | 2020-07-10 | 2020-07-10 | Cutter adjusting device of numerical control machine tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213004148U true CN213004148U (en) | 2021-04-20 |
Family
ID=75502751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021370473.8U Active CN213004148U (en) | 2020-07-10 | 2020-07-10 | Cutter adjusting device of numerical control machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213004148U (en) |
-
2020
- 2020-07-10 CN CN202021370473.8U patent/CN213004148U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110434671B (en) | Cast member surface machining track calibration method based on characteristic measurement | |
| US9895810B2 (en) | Cooperation system having machine tool and robot | |
| US8310539B2 (en) | Calibration method and calibration device | |
| US9519736B2 (en) | Data generation device for vision sensor and detection simulation system | |
| US20180161952A1 (en) | Deburring apparatus | |
| JP5282717B2 (en) | Robot system | |
| CN108406123A (en) | 3 d part calibration system and method in a kind of laser processing | |
| CN109863459A (en) | Processing station, workpiece keep system and Work piece processing method | |
| CN106346315A (en) | Machine tool control system capable of obtaining workpiece origin and workpiece origin setting method | |
| JP2004508954A (en) | Positioning device and system | |
| CN1805830A (en) | A method for fine tuning of a robot program | |
| US20180267505A1 (en) | Control system of machine tool | |
| JP2002257535A (en) | Position measuring device | |
| CN111028340A (en) | Three-dimensional reconstruction method, device, equipment and system in precision assembly | |
| JP2011112401A (en) | Calibration method for three-dimensional measurement and three-dimensional visual sensor | |
| JP2010058239A (en) | Machining method | |
| JPH0798214A (en) | Method and device for three dimensional position and attitude recognition method based on sense of sight | |
| CN113182932B (en) | Composite machine tool for adjusting workpiece angle based on workpiece appearance scanning data | |
| CN109732601B (en) | Method and device for automatically calibrating pose of robot to be perpendicular to optical axis of camera | |
| CN213004148U (en) | Cutter adjusting device of numerical control machine tool | |
| US10088831B2 (en) | Numerical controller capable of checking interference between tool and workpiece | |
| CN109983299A (en) | The measuring system and method for industrial robot | |
| CN112621742A (en) | Robot, measuring jig, and method for determining tool tip position | |
| CN213003854U (en) | Frock clamp of digit control machine tool | |
| Seliger et al. | Sensor-aided programming and movement adaptation for robot-guided deburring of castings |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |