Natural wide edge cleaning sawing machine

Abstract

The invention discloses a natural wide edge-cleaning sawing machine which comprises a main shaft moving sawing mechanism, a visual identification system and a deviation rectifying module, and a cutting method comprises the following steps that a wood board is conveyed by a chain feeding mechanism to move to a scanning area of the visual identification system, and the visual identification system analyzes the inner and outer contours of to-be-cleaned parts on the front and rear sides of the wood board; the intersection point of the linear moving path of the deviation rectifying module and the inner contour of the front side of the wood board and the to-be-clamped position E point of a clamping jaw of the deviation rectifying module are determined, and the moving distance of the deviation rectifying module is obtained through the image; after the wood board is clamped, the wood board is lifted to a set height, the visual recognition system conducts secondary photographing recognition on the wood board to calculate a front cutting line and a rear cutting line, the wood board is lifted by a certain height to compensate that the free side of the wood board droops, and the visual recognition system conducts secondary photographing recognition to improve the cutting precision; and the clamping position of the deviation rectifying module on the wood board is adjusted in a self-adaptive mode according to the wood board width recognized through first-time photographing.

Description

Technical Field

[0001] The invention relates to the technical field of wood processing, in particular to a natural width edge cleaning saw machine. Background Art

[0002] Wood board cleaning is a process in board processing, which aims to remove excess material from the edge of the board to make the edge of the board flat and smooth, thereby improving the overall quality and appearance of the wooden product.

[0003] For example, the patent publication number CN117901214A discloses a "plate edge cleaning device and method", which includes a feeding mechanism, two deviation correction modules, a bridge mechanism, a camera mechanism, a trimming mechanism, two unloading mechanisms, a first frame, a second frame, a plurality of presser mechanisms and a control mechanism; this patent is conducive to cleaning the plate edge with the least loss, thereby improving the utilization rate of the plate;

[0004] The device uses a single visual camera to clamp, correct and clean the wood board. However, due to the thinness of the wood board, after the wood board is clamped on one side, the other side of the wood board will sag and deform. These phenomena will cause the wood board to slightly deviate from its original position, thus affecting the subsequent edge cleaning and cutting accuracy.

[0005] The correction module of the device adopts a single-point structure. The extension and retraction of the correction cylinder drives the crank arm to rotate, thereby tightening or loosening the lower pressure block. However, it is only applicable to wooden boards of one thickness. When the thickness of the wooden boards changes, it cannot ensure that the bottom wall of the lower pressure block is flush with the top wall of the board to be cleaned.

[0006] In addition, using an air cylinder to press the wood conveyor is prone to unstable air pressure, which can easily lead to deviation. The air cylinder is easily affected by the weather, and extremely cold weather can freeze the pneumatic components.

[0007] In addition, the device realizes cleaning of both sides of the plate by respectively moving two independent sawing components. The increase in the number of sawing components leads to an increase in production costs, and the space occupied is larger. The increase in the overall size of the equipment is not conducive to transportation. Summary of the invention

[0008] The object of the present invention is to provide a natural width edge cleaning saw machine to solve the problems raised in the above background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A natural width edge cleaning saw machine comprises a frame, a spindle moving sawing mechanism and a visual recognition system arranged on the frame, a chain feeding mechanism and a deviation correction module are arranged on one side of the frame, and a cutting method of the natural width edge cleaning saw machine comprises the following steps:

[0011] The wood board is transported by the chain feeding mechanism to the scanning area of ​​the visual recognition system, and the visual recognition system analyzes the inner and outer contours of the front and back sides of the wood board to be cleaned.

[0012] Determine the intersection point C of the linear moving path of the left correction module and the inner contour of the front side of the board, as well as the position E where the clamping claw of the left correction module is to be clamped. From the image, it can be concluded that the moving distance of the left correction module is: L AE ;

[0013] The same is true for the right-side correction module. The moving distance of the right-side correction module is: L ae ;

[0014] Among them, A and a are the initial positions of the left and right correction modules;

[0015] The correction modules on the left and right sides move to the set position and clamp the wooden board and then lift it to the set height. The visual recognition system then performs a second photo recognition calculation on the wooden board.

[0016] Calculate the front cutting line and the rear cutting line with the maximum board yield rate when cleaning the board edge, and preset the cutting trajectory lines of the two saw blades of the main axis moving sawing mechanism;

[0017] The distance that the first knife of the left side correction module moves is: L FG , the second knife movement data is L DH ;

[0018] The distance that the first knife of the right-side correction module moves is: L fg , the second knife movement data is L dh ;

[0019] Among them, F is the intersection of the linear movement path of the left-side correction module and the front cutting line, G is the intersection of the linear movement path of the left-side correction module and the first saw blade cutting trajectory line; D is the intersection of the linear movement path of the left-side correction module and the rear cutting line; H is the intersection of the linear movement path of the left-side correction module and the second saw blade cutting trajectory line; f is the intersection of the linear movement path of the right-side correction module and the front cutting line, g is the intersection of the linear movement path of the right-side correction module and the first saw blade cutting trajectory line; d is the intersection of the linear movement path of the right-side correction module and the rear cutting line; h is the intersection of the linear movement path of the right-side correction module and the second saw blade cutting trajectory line.

[0020] Preferably, the process of determining the position point E to be clamped by the left-side correcting module and the position point e to be clamped by the right-side correcting module is as follows:

[0021] When the visual recognition system performs the first photo recognition calculation on the board, the front cutting line and the rear cutting line with the highest board yield rate when the board is edge cleaned are calculated, and the position E and the position e are calculated according to the intersection of the linear moving path of the left and right deviation correction modules and the front and rear cutting lines;

[0022] L CE =k*L CF ;

[0023] L ce =k*L cf ;

[0024] Wherein, k is a preset proportional coefficient.

[0025] Preferably, the calculation process of the front cutting line and the rear cutting line is as follows:

[0026] Calculate all upper straight lines that are tangent to two points of the inner contour of the front side of the board, and calculate all lower straight lines that are tangent to two points of the inner contour of the back side of the board;

[0027] Calculate the area of ​​the trapezoid formed by the upper straight line, the lower straight line and the straight lines at the left and right edges of the wooden board, and select the upper and lower straight lines corresponding to the trapezoid with the largest area as the front cutting line and the rear cutting line.

[0028] Preferably, the visual recognition system includes a number of detection cameras arranged at the same height and in the same straight line, the camera field of view of adjacent detection cameras partially overlap, and the pictures taken by the several detection cameras are stitched to form a picture containing the entire wooden board.

[0029] Preferably, the spindle moving sawing mechanism comprises a spindle moving assembly and a power assembly for driving the spindle moving assembly to move on the frame, and the spindle moving assembly comprises:

[0030] A spindle box and a first motor and a spindle mounted on the spindle box, wherein the first motor is connected to the spindle through a belt drive assembly;

[0031] Saw blades are installed on both ends of the main shaft.

[0032] Preferably, the belt drive assembly comprises a motor pulley, a spindle pulley and a belt, the motor pulley is mounted on the output end of the first motor, the spindle pulley is mounted on the spindle, and the motor pulley and the spindle pulley are connected by a belt.

[0033] Preferably, a first guide rail is fixedly provided on the frame, a first slider is provided on the spindle box, and the first slider is slidably engaged on the first guide rail.

[0034] Preferably, the power assembly includes a second motor mounted on the spindle box, a sawing gear mounted on the output end of the second motor, and a sawing rack arranged on the frame, and the sawing gear and the sawing rack are meshed.

[0035] Preferably, the correction module comprises:

[0036] A movable base and a screw transmission assembly for driving the movable base to move along a first direction;

[0037] The movable base is provided with two groups of third motors, and a first link plate and a second link plate moving along the second direction, the output ends of the two groups of third motors are respectively provided with a support plate gear and a pressure plate gear, the first link plate and the second link plate are respectively provided with a support plate rack and a pressure plate rack extending along the moving direction thereof, the support plate rack is meshed with the support plate gear, and the pressure plate gear is meshed with the pressure plate rack;

[0038] The support plate rack is provided with a support plate, and the pressure plate rack is provided with a pressure plate;

[0039] The first direction and the second direction are perpendicular to each other.

[0040] Preferably, the screw transmission assembly includes a guide rail base and a third guide rail and a screw arranged on the guide rail base, the screw is driven by a fourth motor, the movable base is installed on a fourth slider, and the fourth slider slides on the third guide rail.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The correction module locates its position through the first photo recognition of the visual recognition system. After the correction module clamps the wooden board, the free side of the wooden board will sag, which may easily interfere with and collide with the components on the moving path in front. Therefore, the wooden board is raised to a certain height for compensation. At the same time, the raised wooden board will undergo a certain deformation, which will deviate from the image recognized by the visual recognition system in the first photo recognition. Therefore, the visual recognition system performs a second photo recognition. The accuracy of wooden board cutting is improved through two photo recognitions.

[0043] The position of the correction module clamped on the wooden board is adaptively adjusted according to the width of the wooden board identified by the first photo.

[0044] The front cutting line, the rear cutting line and the left and right side lines of the wooden board form a trapezoidal structure. By calculating the area of ​​the trapezoidal structure, the front cutting line and the rear cutting line with the highest board yield rate when cleaning the board are calculated. This simplifies the calculation of complex problems and improves the operating speed.

[0045] One main shaft drives two saw blades to saw synchronously, and two wooden boards can be cut at one time, which reduces the number of motors and lowers the production cost. It also occupies less space and has a more compact device, reducing floor space and transportation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0047] Figure 1 This is a schematic diagram of the structure of the first viewing angle of the present invention.

[0048] Figure 2 It is a schematic diagram of the structure from the second viewing angle of the present invention.

[0049] Figure 3 This is a schematic diagram of the cutting logic of the present invention.

[0050] Figure 4 Schematic diagram of the distribution of detection cameras of the visual recognition system of the present invention.

[0051] Figure 5 It is a schematic diagram of the calibration plate of the present invention.

[0052] Figure 6 This is a schematic diagram of the main shaft moving sawing mechanism of the present invention cooperating on the frame.

[0053] Figure 7 It is a schematic diagram of the main shaft moving sawing mechanism of the present invention.

[0054] Figure 8 This is a schematic diagram of the spindle moving sawing mechanism of the present invention after the spindle box is removed.

[0055] Fig. 9 It is a schematic diagram of the correction module of the present invention.

[0056] Fig.10 for Fig. 9 A partial enlarged schematic diagram of .

[0057] 1. Correction module; 2. Chain feeding mechanism; 3. Wooden board; 6. Visual recognition system; 7. Frame; 8. Spindle moving sawing mechanism; 10. Discharging conveyor rack.

[0058] 61. Detection camera; 62. Camera field of view; 63. Field of view overlap area; 64. Calibration plate; 65. Calibration circle.

[0059] 200, first guide rail; 300, spindle moving assembly; 400, sawing rack;

[0060] 81. Motor pulley; 82. Belt; 83. First motor; 84. Bottom plate; 85. Saw blade; 86. Saw blade sleeve; 87. Spindle box; 88. First slider; 89. Sawing gear; 810. Reducer; 811. Second motor; 812. Bearing; 813. Spindle dust cover; 814. Spindle; 815. Spindle pulley.

[0061] 12. Guide rail base; 13. Third guide rail; 14. Moving base; 15. Fourth slider; 16. Coupling; 17. Screw protection cover; 18. Screw; 19. Servo link seat; 110. Fourth motor; 111. First link plate; 112. Support plate rack; 113. Support plate gear; 114. Support plate; 115. Pressing plate; 116. Third motor; 117. Reducer; 118. Pressing plate gear; 119. Pressing plate rack; 120. Second guide rail; 121. Third slider; 122. Second link plate. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] Example:

[0064] A natural width edge sawing machine, such as Figure 1-2 As shown:

[0065] It includes a frame 7 and a visual recognition system 6 installed on the frame 7, a spindle moving sawing mechanism 8, a feeding and pressing mechanism, and a discharging and pressing mechanism;

[0066] A chain feeding mechanism 2 and two sets of deviation correction modules 1 are arranged on one side of the frame 7 , and a discharge conveying frame 10 is arranged on the other side of the frame 7 .

[0067] Since the wooden board 3 is in a long strip structure, Figure 4 , 5As shown, the visual recognition system 6 includes a number of detection cameras 61 arranged at the same height and in the same straight line, so that the camera field of view 62 of each detection camera 61 is in the shape of an elongated strip, which is adapted to the elongated wooden board 3 to be detected. A calibration plate 64 is arranged below the detection camera 61. The edges of the camera field of view 62 of adjacent detection cameras 61 are partially overlapped, and the overlapping part is the field of view overlapping area 63. Each field of view overlapping area 63 has the same size. The photos taken by the adjacent detection cameras 61 are parameter adjusted and fitted through the image of the field of view overlapping area 62. A number of calibration circles 65 are opened on the calibration plate 64, and the calibration circles 65 are distributed in a matrix on the calibration plate 64. The shooting parameters of each detection camera 1 can be adjusted separately;

[0068] Before detection, the calibration plate 64 is first fixed on the frame 7, and the calibration plate 64 is photographed by three detection cameras 61. The shooting parameters of each detection camera 61 are adjusted so that adjacent overlapping fields of view 63 are basically the same, and the calibration circles 65 in the overlapping fields of view 63 are three rows and two columns, with a total of six calibration circles 65. The pictures of the three detection cameras 61 are fitted by the controller so that the six calibration circles 65 in the overlapping fields of view 63 of the pictures taken by two adjacent detection cameras 61 overlap. The controller saves and processes the parameters of the pictures taken by each detection camera 61. After the controller parameters are saved, the calibration plate 64 is removed from the frame 7, and the wooden board 3 to be tested is placed at the corresponding position for photo detection. The controller can fit and splice the pictures taken by each detection camera 61 according to the pre-saved parameters, quickly obtain a complete picture of the wooden board 3 to be tested, and perform detection and analysis on the complete picture of the wooden board 3 to be tested.

[0069] like Figure 6-8 As shown, the spindle moving sawing mechanism 8 includes:

[0070] A first guide rail 200 and a sawing rack 400 are horizontally mounted on the frame 7 and are parallel to each other;

[0071] The spindle moving assembly 300 includes a spindle box 87 , a first motor 83 , a spindle 814 and a saw blade 85 .

[0072] A base plate 84 is fixedly provided on the top wall of the spindle box 87, a first slider 88 is installed at the bottom of the base plate 84, the first slider 88 is linearly slidably matched with the guide rail 200, a first motor 83 and a second motor 811 are installed on the top of the base plate 84, the first motor 83 is a permanent magnet motor or a stepper motor or a servo motor or a magnetic eddy current brake motor or a variable speed motor, etc., the second motor 811 is a servo motor or a permanent magnet motor or a stepper motor or a magnetic eddy current brake motor or a variable speed motor, etc.

[0073] A horizontally rotating spindle 814 is connected to the spindle box 87 via a bearing 812. Both ends of the spindle 814 extend to the outside of the spindle box 87 and are installed with a saw blade 85. The saw blade 85 is installed on the end of the spindle 814 via a saw blade sleeve 86. The spindle 814 located outside the spindle box 87 is provided with a spindle dust cover 813, and corresponding bearings 812 are mounted inside through the spindle dust cover 813 to block wood chips generated during the cutting process of the wooden board 3.

[0074] A motor pulley 81 is installed at the output end of the first motor 83 , and a spindle pulley 815 is coaxially fixedly arranged on the outer wall of the spindle 814 located inside the spindle box 87 . The motor pulley 81 and the spindle pulley 815 are connected through three belts 82 .

[0075] A sawing gear 9 is installed at the output end of the second motor 811 , and the sawing gear 9 is meshed with the sawing rack 400 . Furthermore, a reducer 810 is provided between the output end of the second motor 811 and the sawing gear 9 .

[0076] Working principle:

[0077] When the second motor 811 is started, the sawing gear 9 and the sawing rack 400 cooperate to drive the main shaft moving assembly 300 to move left and right, and the front and rear saw blades 85 saw back and forth synchronously.

[0078] The first motor 83 is started to drive the motor pulley 81 to rotate. The motor pulley 81 rotates through the belt 82 to drive the main shaft pulley 815 to rotate. The motor pulley 81 rotates through the main shaft 814 to drive the two saw blades 85 at both ends to rotate to achieve sawing.

[0079] like Figure 1 As shown, the left side of the passage of the machine body 100 is a wooden board inlet, and the right side is a wooden board outlet;

[0080] The main shaft moving assembly 300 moves back and forth to saw the front and rear sides of a group of wooden boards 3.

[0081] like Fig. 9 , 10 As shown, the correction module 1 includes:

[0082] It includes a fixed guide rail base 12 and a third guide rail 13 fixed on the guide rail base 12; a screw rod 18 rotatably connected to the guide rail base 12, a servo link seat 19 is fixed on one side of the guide rail base 12, a fourth motor 110 is installed on the servo link seat 19, the fourth motor 110 adopts a servo motor, one end of the screw rod 18 and the output end of the fourth motor 110 are connected through a coupling 16; a fourth slider 15 is connected to the third guide rail 13 for forward and backward sliding, a movable base 14 is fixed on the top wall of the fourth slider 15, and the movable base 14 and the screw rod 18 are threadedly matched, and a screw rod protection cover 17 is provided on the outer side of the screw rod 18.

[0083] One side of the mobile base 14 is slidably connected to a first link plate 111 and a second link plate 122 via a slider rail assembly. The slider rail assembly includes a first guide rail 120 and a first slider 121 ; the second link plate 122 is arranged above the first link plate 111 .

[0084] A support plate rack 112 extending up and down is fixedly provided on one side of the first link plate 111, and a pressure plate rack 119 extending up and down is fixedly provided on one side of the second link plate 122;

[0085] Two groups of third motors 116 are fixedly installed on one side of the mobile base 14. The third motors 116 are servo motors, permanent magnet motors, stepper motors, eddy current brake motors, variable speed motors, reduction motors, etc. The output end of one group of the third motors 116 is connected to the support plate gear 113 through a reducer 117, and the support plate gear 113 is meshed with the support plate rack 112; the output end of the other group of the third motors 116 is connected to the pressure plate gear 118 through a reducer 117, and the pressure plate gear 118 is meshed with the pressure plate rack 119;

[0086] A supporting plate 114 is fixedly provided on the upper end of the supporting plate rack 112 , and a pressing plate 115 is fixedly provided on the upper end of the pressing plate rack 119 . The pressing plate 115 is located directly above the supporting plate 114 .

[0087] Working principle:

[0088] In the process of conveying the wooden board 3 forward, in order to prevent the pressing plate 115 and the supporting plate 114 from affecting the movement of the wooden board, the pressing plate 115 and the supporting plate 114 are relatively located below the horizontal plane of the wooden board 3;

[0089] When clamping is required, a first motor 16 drives the pressing plate 15 to move upward through the cooperation of the pressing plate gear 18 and the pressing plate rack 19, and is relatively located above the horizontal plane of the plate;

[0090] Another set of third motors 116 drives the support plate 114 to move upward through the cooperation of the support plate gear 113 and the support plate rack 112. At this time, the upper surface of the support plate 114 is relatively flush with the lower surface of the wooden board 3.

[0091] Then, the fourth motor 110 drives the screw rod 18 to rotate, and the rotation of the screw rod 18 drives the pressing plate 115 and the supporting plate 114 to move forward to the upper and lower sides of the wooden board 3 through the movable base 14.

[0092] Then the pressing plate 15 moves downward to cooperate with the supporting plate 14 to clamp the wooden board 3; the screw rod 18 and the movable base 14 cooperate to drive the clamped wooden board 3 to be transported forward.

[0093] A cutting method for a natural width edge sawing machine, such as Figure 3 As shown:

[0094] A stack of wooden boards 3 is placed on the feeding rack, and the chain feeding mechanism 2 drives the lowest wooden board 3 to move forward and enter the scanning area of ​​the visual recognition system 6. When the scanning area enters the wooden board 3, the sensor at the feeding port senses the wooden board 3 passing by, and delays and stops the conveying of the wooden board 3;

[0095] The multiple detection cameras 61 of the visual recognition system 6 take a first picture, which is then spliced ​​and combined by the visual software system to form a complete splicing picture of the wooden board 3, presenting a picture including the entire wooden board 3;

[0096] At this time, the two sets of deviation correction modules 1 are relatively located at the original positions. Figure 3 A and a in.

[0097] According to the picture containing the whole wooden board 3, the visual AI algorithm is used to analyze the inner and outer contours of the front and rear sides of the wooden board 3 to be cleaned, and the intersection C of the virtual straight line moved by the left-side correction module 1 and the inner contour of the rear side of the wooden board 3 is determined. The CE position is the preset distance between the pressure plate 115 and the support plate 114 of the left-side correction module 1 that need to be clamped. The front and rear sides of the wooden board 3 to be cleaned are not flush and are not suitable for clamping. The position between the left grabbing point and the origin is obtained from the image: L AB +L BE ;

[0098] The positions of the points E and e can be preset as fixed values; or the width of the wooden board 3 can be calculated based on the visual recognition of the first photo, and then adaptively adjusted to achieve a large clamping distance for the wooden board 3 with a larger width and a small clamping distance for the wooden board 3 with a smaller width; the front cutting line and the rear cutting line with the maximum board yield rate when the wooden board 3 is edge cleaned are calculated based on the visual recognition of the first photo, and the position points E and e are calculated based on the intersection points D, F, d and f of the front and rear cutting lines and the paths of the linear movement of the left and right groups of deviation correction modules 1;

[0099] L CE =k*L CF ;

[0100] L ce =k*L cf ;

[0101] Wherein, k is a preset proportionality coefficient, and k may be 0.1-0.4.

[0102] Since the detection angle of the detection camera 61 is small, the two sets of correction modules 1 located at the initial position are not within the camera field of view 62 of the detection camera 61. Therefore, an origin position B and b are first built in the plane. Each process time L AB The distance is consistent with Lab. The subsequent picture containing the whole wooden board 3 is spliced ​​to the plane with points B and b. At the same time, two saw blade 85 cutting trajectory lines are preset at corresponding positions in this plane.

[0103] Among them, A, B, C, D, E, F, G and H are located in the same straight line and are consistent with the moving direction of the left-side correction module 1; a, b, d, d, e, f, g and h are located in the same straight line and are consistent with the moving direction of the right-side correction module 1.

[0104] Similarly, the position between the right grasping point and the origin obtained by the right side correction module 1 is: L ab +L be ;

[0105] The grasping point position is obtained, and the left and right correction modules 1 move the corresponding data respectively;

[0106] After the left and right sets of deviation correction modules 1 clamp the wooden board 3, in order to prevent the wooden board 3 from warping, sagging, deformation and other problems, it needs to be lifted to a certain height; at this time, the visual recognition system 6 takes a second photo, and the obtained image enters the visual software system again for calculation and analysis;

[0107] The heights of the wooden board 3 during the two visual recognitions are different, and the sizes of the two photographs can be kept the same by scaling.

[0108] Due to the different thicknesses of the wooden boards 3, the distances between the upper surfaces of the wooden boards 3 of different thicknesses and the detection camera 61 are different during the first visual recognition, which slightly affects the clamping position of the two sets of correction modules 1; during the second visual recognition, the pressing plate 115 can be controlled to rise to a constant height so that the distances between the upper surfaces of the wooden boards 3 of different thicknesses and the detection camera 61 are the same, thereby improving the cutting accuracy.

[0109] By analyzing the image, the AI ​​algorithm is used again to identify the inner and outer contours of the front and rear sides of the board 3 to be cleaned. The inner contour is mainly used. The front and rear sides of the board are analyzed separately. The inner contour on the board is distributed with multiple points along the edge line. On the premise of not passing through the part to be cleaned, a straight line is drawn to be tangent to the two points of the front inner contour. This straight line is set as the upper straight line; a straight line is drawn to be tangent to the two points of the rear inner contour. This straight line is set as the lower straight line.

[0110] There are many possibilities for the upper and lower straight lines, such as Figure 3As shown, the left and right sides of the wooden board 3 are parallel to each other. The upper straight line, the lower straight line and the left and right sides of the wooden board 3 are enclosed to calculate their areas, and the upper straight line and the lower straight line with the largest area are selected; the upper straight line is the front cutting line, and the lower straight line is the rear cutting line.

[0111] The logic for calculating the front cutting line and the back cutting line during the first / secondary visual recognition is the same.

[0112] Based on the information calculated on the picture, we get the data required for the two sets of correction modules 1 to cut the two knives respectively:

[0113] Left-side correction module 1: The data of the first knife movement is L FG , the second knife movement data is L DH ;

[0114] Right deviation correction module 1: The data of the first knife movement is L fg , the second knife movement data is L dh ;

[0115] During the first cut, the left-side deviation correction module 1 drives the clamped wooden board 3 forward L FG The right-side deviation-correcting module 1 drives the clamped wooden board 3 forward L fg The feeding and pressing mechanism presses the wooden board 3 , and a saw blade 85 of the main shaft moving assembly 300 moves to the right to cut the wooden board 3 , and the track of the saw blade 85 is the front cutting line on the wooden board 3 .

[0116] During the second cutting, the left correction module 1 drives the clamped wooden board 3 forward L DH -L FG The right-side deviation-correcting module 1 drives the clamped wooden board 3 forward L dh -L fg The discharging and pressing mechanism presses the wooden board 3, the two sets of deviation correction modules 1 release the wooden board 3 and reset it, and the other saw blade 85 of the main shaft moving assembly 300 moves to the left to cut the wooden board 3 and reset it. The trajectory of this saw blade 85 is the rear cutting line on the wooden board 3.

[0117] Due to L FG and L fg , L DH、 and L dh The distances are not necessarily the same, but the two sets of correction modules 1 move in the same direction, resulting in a certain deviation between the wooden board 3 and the preset position after correction. This small deviation can be eliminated by the width of the saw blade 85, the gear matching clearance, etc.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0119] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A natural width edge cleaning saw machine, comprising a frame (7) and a spindle moving sawing mechanism (8) and a visual recognition system (6) arranged on the frame (7), wherein a chain feeding mechanism (2) and a deviation correction module (1) are arranged on one side of the frame (7), characterized in that: A cutting method of a natural width edge saw comprises the following steps: The wooden board is transported by the chain feeding mechanism (2) and moves to the scanning area of ​​the visual recognition system (6). The visual recognition system (6) analyzes the inner and outer contours of the front and rear sides of the wooden board (3) to be cleaned. Determine the intersection point C of the linear moving path of the left-side correcting module (1) and the inner contour of the front side of the wooden board (3), as well as the position E where the clamping claw of the left-side correcting module (1) is to be clamped. From the image, the moving distance of the left-side correcting module (1) is obtained as: L AE ; The same is true for the right-side correction module (1). The moving distance of the right-side correction module (1) is: L ae ; Wherein, A and a are the initial positions of the left and right deviation correction modules (1); The deviation correction modules (1) on the left and right sides move to a set position and clamp the wooden board (3) and then lift it to a set height, and the visual recognition system (6) performs secondary photo recognition and calculation on the wooden board (3); Calculating the front cutting line and the rear cutting line at which the yield rate of the board is maximized when the board (3) is edge-cleaned, and presetting the cutting trajectory lines of the two saw blades (85) of the main shaft moving sawing mechanism (8); The distance that the first knife of the left-side correction module (1) moves is: L FG , the second knife movement data is L DH ; The distance that the first knife of the right-side correction module (1) moves is: L fg , the second knife movement data is L dh ; Among them, F is the intersection of the linear movement path of the left-side correcting module (1) and the front cutting line, G is the intersection of the linear movement path of the left-side correcting module (1) and the cutting trajectory line of the first saw blade (85); D is the intersection of the linear movement path of the left-side correcting module (1) and the rear cutting line; H is the intersection of the linear movement path of the left-side correcting module (1) and the cutting trajectory line of the second saw blade (85); f is the intersection of the linear movement path of the right-side correcting module (1) and the front cutting line, g is the intersection of the linear movement path of the right-side correcting module (1) and the cutting trajectory line of the first saw blade (85); d is the intersection of the linear movement path of the right-side correcting module (1) and the rear cutting line; h is the intersection of the linear movement path of the right-side correcting module (1) and the cutting trajectory line of the second saw blade (85).

2. A natural width edge cleaning saw machine according to claim 1, characterized in that: The process of determining the position point E to be clamped by the left-side correcting module (1) and the position point e to be clamped by the right-side correcting module (1) is as follows: When the visual recognition system (6) performs the first photographic recognition calculation on the wooden board (3), the front cutting line and the rear cutting line with the maximum board yield rate when the wooden board (3) is cleaned are calculated, and the position E and the position e are calculated according to the intersection of the linear movement path of the left and right deviation correction modules (1) and the front and rear cutting lines; L CE =k*L CF ; L ce =k*L cf ; Wherein, k is a preset proportional coefficient.

3. The natural width edge cleaning saw machine according to claim 1, characterized in that: The calculation process of the front cutting line and the rear cutting line is as follows: Calculate all upper straight lines that are tangent to two points of the inner contour of the front side of the board (3), and calculate all lower straight lines that are tangent to two points of the inner contour of the back side of the board (3); Calculate the area of ​​the trapezoid formed by the upper straight line, the lower straight line and the straight lines at the left and right edges of the board (3), and select the upper straight line and the lower straight line corresponding to the trapezoid with the largest area as the front cutting line and the rear cutting line.

4. A natural width edge cleaning saw machine according to claim 1, characterized in that: The visual recognition system (6) comprises a plurality of detection cameras (61) arranged at the same height and in the same straight line, the camera field of view (62) of adjacent detection cameras (61) partially overlap, and the images taken by the plurality of detection cameras (61) are spliced ​​to form an image containing the entire wooden board (3).

5. The natural width edge cleaning saw machine according to claim 1, characterized in that: The spindle moving sawing mechanism (8) comprises a spindle moving assembly (300) and a power assembly for driving the spindle moving assembly (300) to move on the frame (7), wherein the spindle moving assembly (300) comprises: A spindle box (87) and a first motor (83) and a spindle (814) mounted on the spindle box (87), wherein the first motor (83) is connected to the spindle (814) via a belt transmission assembly; Saw blades (85) are installed at both ends of the main shaft (814).

6. A natural width edge cleaning saw machine according to claim 5, characterized in that: The belt transmission assembly comprises a motor pulley (81), a main shaft pulley (815) and a belt (82), wherein the motor pulley (81) is mounted on the output end of the first motor (83), the main shaft pulley (815) is mounted on the main shaft (814), and the motor pulley (81) and the main shaft pulley (815) are connected via a belt (82).

7. The natural width edge cleaning saw machine according to claim 5, characterized in that: A first guide rail (200) is fixedly arranged on the frame (7), a first slider (88) is arranged on the spindle box (87), and the first slider (88) is slidably matched on the first guide rail (200).

8. The natural width edge cleaning saw machine according to claim 5, characterized in that: The power assembly comprises a second motor (811) mounted on a spindle box (87), a sawing gear (89) mounted on an output end of the second motor (811), and a sawing rack (400) arranged on a frame (7), wherein the sawing gear (89) is meshed with the sawing rack (400).

9. The natural width edge cleaning saw machine according to claim 1, characterized in that: The deviation correction module (1) comprises: A movable base (14) and a screw transmission assembly for driving the movable base (14) to move along a first direction; The movable base (14) is provided with two groups of third motors (116), and a first link plate (111) and a second link plate (122) moving along the second direction; the output ends of the two groups of third motors (116) are respectively provided with a support plate gear (113) and a pressure plate gear (118); the first link plate (111) and the second link plate (122) are respectively provided with a support plate rack (112) and a pressure plate rack (119) extending along their moving direction; the support plate rack (112) is meshed with the support plate gear (113), and the pressure plate gear (118) is meshed with the pressure plate rack (119); A support plate (114) is arranged on the support plate rack (112), and a pressure plate (115) is arranged on the pressure plate rack (119); The first direction and the second direction are perpendicular to each other.

10. The natural width edge cleaning saw machine according to claim 1, characterized in that: The screw transmission assembly comprises a guide rail base (12), a third guide rail (13) and a screw rod (18) arranged on the guide rail base (12); the screw rod (18) is driven by a fourth motor (110); the movable base (14) is mounted on a fourth slider (15); and the fourth slider (15) slides on the third guide rail (13).

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