DE202009005329U1 - cutter - Google Patents

Abstract

Cutting device of substantially plate-shaped workpieces (17), preferably sheets, with
a cutting tool (4) arranged on a preferably U-shaped carrier (1, 2), wherein the carrier (1, 2) spans a cutting table (16) on which at least one workpiece (17) can be positioned and connected to the cutting tool (4) is workable, and wherein the carrier (1) is movable in a longitudinal direction,
an optical detection device (9) which generates image data of a detection area of the cutting table (16), wherein the optical detection device (9) is at least temporarily fixed to the support (1, 2) for generating the image data and movable together with it and at least two in a fixed predetermined distance arranged cameras (13), and
a data processing device (35) which, from the image data obtained from the optical detection device, has a dimension and / or a contour of the at least one workpiece (17) arranged in the detection region in a predetermined plane above the cutting table (16), including existing clippings detected.

Description

The The present invention relates to a cutting device of substantially plate-shaped workpieces, preferably sheets.

From the publication EP 1 342 527 A1 Such a cutting device is already known in which a cutting tool can be moved by means of a carriage on a carrier spanning the cutting table. On a foot connected to the carriage, a single CCD camera is arranged, which serves to record image data from the entire cutting area.

at the processing of plate-shaped workpieces, z. B. metal sheets, often arise residual pieces (remainder sheets), which any external geometry and inner Cutouts, d. H. can have any contour. In the course of an efficient material processing should from these Workpieces still as many and large further parts are cut out. This further use of Remaining sheets in the cutting operation requires a measurement of the contour and / or the dimensions of the workpieces including any existing cutouts with a high accuracy to automatically to be able to arrange further cut-out parts on the residual sheet metal. A manual measurement with sufficient accuracy is because the time required for this required time not profitable. Therefore, such residual sheets are often no longer used, but attributed with loss of value as scrap and melted down.

The in the publication EP 1 342 527 A1 The device described by integration of image data of a detection area determines an overall image of a workpiece. On the basis of these data, mapping means automatically associate images still to be cut from the respective workpiece with this component, whereby this assignment and the determined image data of the workpiece can subsequently be revised by means of manual inputs.

The after the EP 1 342 527 A1 The processing of residual sheets carried out is comparatively inaccurate and time-consuming, since the entire detection range is detected only by means of a camera and the images generated by the camera then have to be further processed and integrated. In addition, due to the displacement of the camera during the detection, the accuracy is unsatisfactory and frequent manual intervention is required. Furthermore, the use of only one camera limits the measuring range.

The It is therefore an object of the present invention to provide a cutting device to create, automatically and in a short time the surveying of a Workpiece with high accuracy.

The The above object is achieved by a cutting device according to claim 1 solved. In particular, the inventive Cutting device on a preferably U-shaped Carrier disposed cutting tool, wherein the carrier spans a cutting table on which at least one workpiece positionable and workable with the cutting tool, and wherein the carrier is movable in a longitudinal direction is. Furthermore, an optical detection device is provided, which generates image data of a detection area, wherein the optical Detection device at least temporarily for generating the image data fixed to the carrier and movable together with this is and arranged at least two at a fixed predetermined distance Cameras, preferably CCD cameras, has. In addition, at the invention Cutting device provided a data processing device see which from the image data obtained by the optical detection means two-dimensionally a dimension and / or a contour of at least a workpiece disposed in the detection area, including any cutouts at least in a predetermined plane above the cutting table, in particular in the area of the workpiece.

Of the Advantage of the cutting device according to the invention consists in the detection area with high accuracy and in a short time to capture and thus the recovery of residual sheets inexpensive to perform. In particular between the measurement and the subsequent cutting no mechanical movement of the workpiece required because of the Cutting tool is also disposed on the carrier and can be moved with this. This can be additional Inaccuracies due to movement and subsequent repositioning of the workpiece in the cutting area can be avoided.

In one embodiment of the cutting device according to the invention, the optical detection device and the cutting tool are calibrated on one and the same coordinate system. In the evaluation of the image data by the data processing device, these are therefore already specified in the coordinate system of the cutting tool, so that the measured image data or determined by the data processing contour and / or dimensional data already in the target coordinate system of the cutting tool. This approach is advantageous because on the one hand the control of the cutting tool For further processing of the workpiece simplifies and on the other hand calculation errors in the determination of still excitable parts can be reduced from the workpiece.

It is also advantageous if in a further embodiment the cutting device according to the invention the at least two cameras are arranged such that each point of the detection area is observed by at least two cameras. The cutting device according to the invention is therefore designed such that the viewing areas of at least two overlapping cameras. Every point of the coverage is therefore used by two cameras and, given the cameras in a particular, predetermined and known distance from each other are arranged captured by each camera from a different direction. hereby Image data are generated, each stereoscopic fields represent and by known methods of stereoscopy a additional evaluation of the image data with respect to height direction, d. H. the direction perpendicular to the plane of the support of the workpiece forming area of the cutting table, allow. From this altitude information may be the detection of the actual edges present the workpiece more reliable than a pure two-dimensional, not stereoscopic acquisition with only one camera recording per Pixel take place. In particular, the contours of the under the workpiece arranged cutting table of the Contours of the workpiece are distinguished as they are at another position in the height direction (z direction). The contours and / or dimensions of the workpiece can in this embodiment of the invention Cutting device to be determined three-dimensionally. Because of this special procedure will be an accuracy in determining the Dimensions and / or contours of the workpiece of at least 1 mm reached.

In a development of the cutting device according to the invention the optical detection device detects the detection area transverse to the longitudinal direction line by line. Accordingly, several Cameras arranged in a row. By the line-by-line scanning of the detection area transverse to the longitudinal direction is a any extension of the detection area in the longitudinal direction at any time and only requires little effort Adjustments to the software of the data processing device.

In another embodiment of the invention Cutting device is preferably at the end of the distance in the longitudinal direction, along the carrier is movable, a holding device arranged, on which the optical detection device during times, in which the optical detection device is not working, preferably during operation of the cutting tool, in a parking position is arrangeable. Particularly preferably, the Holding device on a protective device, which in the parking position the optical detection means an illumination opening covers the optical detection device. In such a designed Cutting device is the optical detection device during the normal cutting operation in the parking position on a holding device (Storage), which for example by two stationary stand is formed at the end of the career. The protective device seals in the parking position which otherwise in the lower part of the optical detection device arranged open lighting shaft, so that through this Lighting shaft no dirt, dust or other contamination can penetrate into the optical detection device, which the image quality generated by the optical detection means could reduce.

It is further preferred when the optical detection means and the carrier respectively positioning, preferably the optical detection device at least two at least in sections conical cones and the support at least two corresponding section-wise conical recesses, which in the operating position in cooperation the the calibration corresponding exact positioning of the optical Enable detection device on the carrier. The positioning means ensures that the optical detection device very precisely in the operating position, d. H. in the position in which the optical detection device is ready to determine image data of the detection area, on the carrier accordingly the previously made calibration can be arranged. In particular, when the optical detection device and the cutting tool calibrated to the same coordinate system this measure is beneficial and guaranteed a very high accuracy in the use of residual sheet metal. In the preferred embodiment, wherein the positioning means from at least partially conical pin and corresponding at least partially conical Recesses can exist even when transporting the optical detection device from the parking position in the Operating position is not very precise, minor positioning deviations be compensated, since the conical sections a Self-centering effect of the cooperating elements.

It is also advantageous if the optical detection device is movable by means of a pneumatic or hydraulic drive from the operating position to the parking position and back again. In a particularly preferred embodiment For example, pneumatic cylinders are provided on the holding device, which cause a movement of the optical detection device. To deposit the optical detection device in the parking position, the carrier moves in the parking position with respect to the component in the longitudinal direction (y-direction), so that then only by lifting and lowering, driven by the integrated pneumatic cylinder of the holding device with respect to the component in the height direction ( z-direction) can be moved from the parking position to the operating position. In this case, in the operating position, the mechanical positioning means of the optical detection device engage in the positioning means of the carrier.

In In another embodiment, that of the optical Detecting device recorded light on the way to each of the at least two cameras redirected twice. This measure allows a space-saving flat design the optical detection device.

Around a high accuracy in the determination of the dimension and / or the contour of the workpiece or workpieces to achieve, the optical detection device is three-dimensional, preferably calibrated by means of a three-stage calibration target. One level calibration target is a staircase-like structure, here with preferably three steps, each step on the surface is provided with a defined pattern, preferably on every level is different. By using patterns on the Step surface can be any image of the calibration target, which serves to calibrate the optical detection device, assigned to the respective image plane (staircase level). When For example, such a pattern may be a square be inscribed in the circles.

A particularly simple movement of the carrier is thereby made possible that the carrier is arranged on two sides of the cutting table, in longitudinal direction parallel to each other running rails is movably guided.

Further Objectives, characteristics, advantages and applications of the The present invention will become apparent from the following description an embodiment of the invention Cutting device based on the figures. Here are all described and / or illustrated features alone or in any combination the subject of the present invention, also independent of their summary in the individual Claims or their remittances.

It show schematically:

1 a cutting device according to the invention in a view from the rear, in which the optical detection device is in the operating position,

2 an enlarged section 1 which is marked there with A,

3 the cutting device according to the invention according to 1 in a longitudinal section along the line CC (see 1 ), in which the optical detection device is arranged in parking position,

4 an enlarged section 3 which is marked there with B,

5 a longitudinal section through the cutting device according to the invention according to 1 .

6 the optical detection device of the cutting device according to the invention according to 1 in a view from above and

7 the electronic components of the cutting device according to the invention according to 1 and the data flow between the components.

The illustrated in the figures embodiment of a cutting device according to the invention has a U-shaped support (portal) with a crossbar 1 and two side cheeks 2 on which the crossbeam 1 each support laterally. At the crossbeam 1 is a tool cart 3 Arranged on the transom 1 in the transverse direction (x-direction) is movable. On the tool cart 3 is a cutting tool 4 attached, with one on the tool cart 3 arranged height adjustment 5 in the height direction (z-direction) is displaceable.

On each side wall 2 is a substantially in the x-direction extending, inwardly facing retaining plate 7 attached, which each have a conical recess 8th for arranging an optical recording device 9 (Scanner) by means of a conical pin 10 having. The longitudinal axis of each pin 5 extends in the direction of the z-axis. In the in 1 illustrated operating position of the optical detection device 9 is the cone-shaped pin 10 in the conical recess 8th the holding plate 7 arranged.

The optical detection device 9 has, as particularly evident in 6 is recognizable, a cuboid shape. In the height direction (z-direction), the detection device 9 the smallest dimension, so that it has a flat appearance, which is particularly space-saving. The illustrated in the figures embodiment of the invention Cutting device has in the optical detection device 9 four adjacent CCD cameras 13 which, respectively, to allow easy replacement, by means of a bolted cover plate 14 are covered. As from the in 5 shown longitudinal section is that of the lighting device 15 to every camera 13 produced and from that on the cutting table 16 arranged workpiece 17 reflected light by means of two deflection devices (for example, mirror, not shown) twice deflected and then falls into the respective CCD line scan camera 13 , The lighting device 15 consists of a combination of four high-frequency fluorescent tubes arranged in pairs in parallel. The path of light from the workpiece 17 to the respective camera 13 is in 5 with a dashed line 18 indicated.

That on the cutting table 16 resting workpiece 17 is designed essentially cuboid. The 3 and 5 show that the workpiece 17 a substantially circular cutout 19 that of the optical detection device 9 is also recorded. By means of the erfindungsge MAESSEN cutting device any shaped plate-shaped workpieces can be detected and processed, which have arbitrarily shaped cutouts.

During the cutting operation, in which the optical detection device 9 is not needed, this is in a parking position on a holding device, which by two stationary stand 20 is formed. The stands 20 are arranged at the end of the longitudinal direction (y-direction) extending career of the carrier. On one leg of each stand 20 is in each case a pneumatic cylinder 21 intended. Every pneumatic cylinder 21 is with a lift shaft 22 connected, which in a certain, extended position on the opposite foot 23 the optical detection device 9 is applied and this thereby in the height direction (z-direction) can move up and down. By the pneumatic cylinder is thus a movement of the optical detection device 9 from the parking position in which the optical detection device 9 on the uprights running in the longitudinal direction (y-direction) 20 rests, movable in an operating position, in which the optical detection device 9 on the holding plates 7 the side cheeks 2 rests and in the capture of the on the cutting table 16 arranged workpiece 17 is feasible.

In the parking position, the bottom of the optical detection device 9 arranged opening 25 from which the light of the lighting device 15 exit, by means of a protective device 27 covered. For this purpose, the protective device in particular a seal 28 which is in the parking position of the optical detection device 9 the opening 25 seals along its entire edge area. The protective device 27 with the associated seal extends substantially over the entire width of the optical detection device 9 in the x direction and has a substantially trapezoidal cross-section. The protective device 27 with the seal 28 is arranged such that it is in contact with the optical detection device 9 close to this rests, so that no dirt, especially during the cutting process, in the optical detection device 9 can penetrate.

In In another embodiment, the optical detection device Permanently firmly connected to the carrier (portal). In this embodiment, the optical detection means permanently arranged in the operating position.

The U-shaped beam with the crossbeam 1 and the sidewalls 2 is arranged on a running device which extends longitudinally along a track 31 moves, which is preferably designed as a rail. The raceways 31 are each side of the cutting table 16 arranged.

7 shows a schematic diagram of the electronic components of the cutting device according to the invention. The optical detection device 9 with the cameras 13 transmits the obtained image data to an image data acquisition device 35 which further processes this data as described below. The image data acquisition device 35 is with a machine control 36 connected, which the cutting tool 4 controls. Both facilities 35 . 36 exchange image data with each other. Furthermore, the cutting device has a position detection device 37 on which the position of the wearer 1 . 2 determined in y-direction. The position data are on the one hand to the image data acquisition device 35 and on the other hand to the machine control 36 transmitted.

To capture and edit the on the cutting table 16 resting workpiece (remainder sheet) 17 is the optical detection device (scanner) 9 initially brought into the operating position. Now the carrier (portal) along the raceways 31 over the entire length in the longitudinal direction (y-direction) of the previously defined detection range moves. At the same time the scanner detects 9 with the four cameras 13 Line by line raster images of the detection area. All images thus generated are then transferred to the image data processing device (evaluation computer). 35 transmit the dimensions and / or contours of the workpiece arranged in the detection area from all the images produced in the detection area 17 including the clipping 19 calculated. Because every point of Erfas by at least two cameras 13 can be captured when calculating the dimensions and / or contours of the workpiece 17 Stereoscopic methods are applied to information about the dimensions and / or contours of the workpiece 17 also in the height direction (z-direction) to obtain. The three-dimensional dimensional and / or contour data of the workpiece determined from the image data 17 are represented by data technology in a suitable manner, so that further processing of this data by machine control 36 can be done.

It may be in the detection area of the cutting table 16 also several workpieces 17 be arranged jointly detected by the detection device and their dimensions and / or contours together by the image data processing device 35 be determined.

• – Das mindestens eine zu bearbeitende Werkstück 17 wird in den Erfassungsbereich der Schneidemaschine eingelegt.
• – Der Träger 1, 2 mit Scanner 9 in Betriebsposition wird vor den Anfang des Erfassungsbereichs an eine Position y < 0 verfahren.
• – In der Maschinensteuerung 36 wird das Kommando für den Start der optischen Erfassung des Werkstücks 17 erzeugt.
• – Die Maschinensteuerung 36 versetzt die Bild-Datenverarbeitungseinrichtung 35 über eine Netzwerkverbindung in Messbereitschaft.
• – Die Maschine verfährt den Träger 1, 2 in +y-Richtung.
• – Bei Erreichen der Position y = 0 überträgt die Maschinensteuerung 36 das Startkommando zur Erfassungseinrichtung 9.
• – Die Bild-Datenverarbeitungseinrichtung 35 liest über die Positionsmesseinrichtung 37 der Schneidevorrichtung die aktuelle y-Position des Trägers 1, 2 und liest alle 0,3 mm eine Bildzeile aus den vier Kameras 13 aus.
• – Nach Erreichen des Endes des Erfassungsbereichs übermittelt die Maschinensteuerung 36 das Kommando ”Scanende” an die Bild-Datenverarbeitungseinrichtung 35.
• – Die Bild-Datenverarbeitungseinrichtung 35 setzt die gelesenen Zeileninformationen zu einem Gesamtbild zusammen.
• – Mittels der Bild-Datenverarbeitungseinrichtung 35 wird das Gesamtbild analysiert und die Konturen (Innen- und Außenkonturen) des mindestens einen auf den Schneidetisch 16 aufgelegten Werkstücks 17 werden ermittelt.
• – Aus den analysierten Daten werden durch die Bild-Datenverarbeitungseinrichtung 35 die Konturen des Werkstücks 17 als DXF File berechnet und der Maschinensteuerung 36 zur Verfügung gestellt.

Specifically, the following steps are performed in sequence:

• - The at least one workpiece to be machined 17 is inserted into the detection area of the cutting machine.
• - The carrier 1 . 2 with scanner 9 in the operating position, a position y <0 is moved before the beginning of the detection range.
• - In the machine control 36 becomes the command for starting the optical detection of the workpiece 17 generated.
• - The machine control 36 puts the image data processing device 35 via a network connection in readiness for measurement.
• - The machine moves the carrier 1 . 2 in + y direction.
• - When the position y = 0 is reached, the machine control transfers 36 the start command to the detection device 9 ,
• - The image data processing device 35 reads via the position measuring device 37 the cutting device the current y-position of the carrier 1 . 2 and reads every 0.3 mm one line of the four cameras 13 out.
• - After reaching the end of the detection range, the machine control transmits 36 the command "scan end" to the image data processing device 35 ,
• - The image data processing device 35 composes the read line information into a complete picture.
• - By means of the image data processing device 35 the overall picture is analyzed and the contours (inner and outer contours) of the at least one on the cutting table 16 applied workpiece 17 are determined.
• - From the analyzed data by the image data processing device 35 the contours of the workpiece 17 calculated as DXF file and the machine control 36 made available.

• a) – Die Konturendaten des Werkstücks 17 werden direkt an die Maschinensteuerung 36 geleitet. – Auf der Maschinensteuerung 36 legt der Maschinenbediener die zu schneidenden Elemente mittels grafischem Editor direkt in die Konturen des Werkstücks 17. – Der Maschinenbetreiber startet das Schneiden des mindestens einen Werkstücks 17, das nach dem Erfassen durch den Scanner 9 in seiner Position nicht verändert wurde, durch Betätigen der Maschinensteuerung 36.
• alternativ b) – Die Konturendaten des Werkstücks 17 werden an ein externes Offline-Programmiersystem (nicht dargestellt) mit erweiterten Möglichkeiten hinsichtlich automatischer Schneideprogrammerstellung gegenüber der Maschinensteuerung 36 geleitet. – Am Programmiersystem werden die zu schneidenden Elemente automatisch oder manuell auf den Bereich des Werkstücks 17 innerhalb der Konturen gelegt. – Das Programmiersystem erzeugt ein Schneideprogramm, das an die Maschinensteuerung 36 übertragen wird. – Der Maschinenbetreiber startet das Schneiden des mindestens einen Werkstücks 17, das nach dem Erfassen durch den Scanner 9 in seiner Position nicht verändert wurde, durch Betätigen der Maschinensteuerung 36.

For further processing of the contour data two paths (a) or b)) can be taken:

• a) - The contour data of the workpiece 17 will be sent directly to the machine control 36 directed. - On the machine control 36 The machine operator places the elements to be cut directly into the contours of the workpiece using a graphic editor 17 , - The machine operator starts cutting the at least one workpiece 17 after detecting it by the scanner 9 in its position was not changed by pressing the machine control 36 ,
• alternatively b) - The contour data of the workpiece 17 are sent to an external offline programming system (not shown) with advanced options for automatic cutting program creation over the machine control 36 directed. - On the programming system, the elements to be cut automatically or manually on the area of the workpiece 17 placed within the contours. - The programming system generates a cutting program that is sent to the machine control 36 is transmitted. - The machine operator starts cutting the at least one workpiece 17 after detecting it by the scanner 9 in its position was not changed by pressing the machine control 36 ,

1

crossbeam

2

side cheek

3

tool trolley

4

cutting tool

5

height adjustment

7

Retaining plate

8th

conical recess

9

optical Detection device (scanner)

10

conical spigot

13

CCD camera

14

cover plate

15

lighting device

16

cutting table

17

workpiece

18

beam path

19

neckline

20

stand

21

pneumatic cylinder

22

Hubwelle

23

Foot of the optical detection device 9

25

opening

27

guard

28

poetry

29

stand the protective device

30

running device

31

career

35

Image-data processing device

36

machine control

37

Position measuring device

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - EP 1342527 A1 [0002, 0004, 0005]

Claims (12)

Cutting device of substantially plate-shaped workpieces ( 17 ), preferably metal sheets, with one on a preferably U-shaped support ( 1 . 2 ) arranged cutting tool ( 4 ), the carrier ( 1 . 2 ) a cutting table ( 16 ), on which at least one workpiece ( 17 ) and with the cutting tool ( 4 ) is workable, and wherein the carrier ( 1 ) is movable in a longitudinal direction, an optical detection device ( 9 ), which image data of a detection area of the cutting table ( 16 ), wherein the optical detection device ( 9 ) at least temporarily for generating the image data on the carrier ( 1 . 2 ) and is movable together with this and at least two cameras arranged at a fixed distance ( 13 ), and a data processing device ( 35 ), which from the image data obtained by the optical detection device, a dimension and / or a contour of the at least one workpiece ( 17 ) located in the detection area, in a predetermined plane above the cutting table (Fig. 16 ) including any excerpts. Cutting device according to claim 1, characterized in that the optical detection device ( 9 ) and the cutting tool ( 4 ) are calibrated to one and the same coordinate system. Cutting device according to one of the preceding claims, characterized in that the at least two cameras ( 13 ) are arranged such that each point of the detection area by at least two cameras ( 13 ) is observed. Cutting device according to one of the preceding claims, characterized in that the optical detection device ( 9 ) detects the detection area transversely to the longitudinal direction line by line. Cutting device according to one of the preceding claims, characterized in that preferably at the end of the distance in the longitudinal direction a holding device ( 29 ) on which the optical detection device ( 9 ) during periods in which the optical detection device ( 9 ) does not work, preferably during operation of the cutting tool ( 4 ), can be arranged in a parking position. Cutting device according to claim 5, characterized in that the holding device ( 29 ) a protective device ( 27 ) having an illumination opening ( 25 ) of the optical detection device ( 9 ) covers in the parking position. Cutting device according to one of claims 5 to 6, characterized in that the optical detection device ( 9 ) and the carrier ( 1 . 2 ) each positioning means, preferably the optical detection device ( 9 ) at least two cone elements ( 10 ) and the carrier ( 1 . 2 ) at least two corresponding conical recesses ( 8th ), which in the operating position the exact positioning of the optical detection device ( 9 ) on the carrier ( 1 ). Cutting device according to one of claims 5 to 7, characterized in that the optical detection device ( 9 ) by means of a pneumatic or hydraulic drive ( 21 ) is movable from the operating position to the parking position and back again. Cutting device according to one of the preceding claims, characterized in that that of the optical detection device ( 9 ) received light on the way to each of the at least two cameras ( 13 ) is diverted twice. Cutting device according to one of the preceding claims, characterized in that the optical detection device ( 9 ) is calibrated three-dimensionally by means of a three-stage calibration target. Cutting device according to one of the preceding claims, characterized in that the carrier ( 1 . 2 ) on two sides of the cutting table ( 16 ), in the longitudinal direction parallel to each other running tracks ( 31 ) is movably guided. Cutting device according to one of the preceding claims, characterized in that the at least two cameras as CCD cameras ( 13 ) are formed.