Efficient low-loss stone cutting method

Abstract

According to the efficient low-loss stone cutting method, stone cutting equipment is configured and comprises an industrial personal computer, a cutting table top, an industrial camera, a disk saw machine head and a suction cup mechanical arm, and the disk saw machine head is located above the cutting table top and has an XYZ three-coordinate moving function. The disc saw machine head has a rotating function on the XY plane, the cutting table top is provided with a first cutting area and a second cutting area in the X-axis direction, the cutting method comprises the steps of feeding, image collecting, typesetting, cutter path judging, plate moving, cutting, discharging and the like, stone cutting is conducted through the method, the cutting efficiency can be guaranteed, and meanwhile the cutting efficiency is improved. The stone is utilized to the maximum extent, the stone loss is reduced, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of stone processing, in particular to a high-efficiency and low-loss stone cutting method. Background Art

[0002] Stone cutting, in this application, refers to the secondary cutting of the initially processed stone slab according to the specifications of the customer's order, so as to cut the stone into the size that meets the customer's requirements. The initially processed stone slab is rectangular or roughly rectangular, and at least one side is a straight edge (the other sides may be jagged or missing).

[0003] Rectangular stone slabs are the most in-demand slabs. Therefore, how to achieve an optimal balance between cutting efficiency and cutting loss in the processing of rectangular stone slabs has always been an urgent problem that stone processing plants need to solve, that is, how to reduce cutting loss as much as possible while ensuring cutting efficiency. Cutting efficiency is how to reduce the number of circular saws that cut empty and provide the highest possible cutting efficiency per unit time; cutting loss mainly refers to the fact that the defects of the stone itself (black spots, discoloration, cracks, missing corners, etc.) are not taken into account during cutting, resulting in the complete waste of the piece of stone containing the defective part.

[0004] To cut stone, the current stone processing plants mainly adopt the following two methods: 1. Efficient cutting method: workers place multiple (three to four) stone slabs on the cutting table in parallel (the distance between adjacent stone slabs is the knife space to avoid the knife paths of two adjacent stone slabs not overlapping in the same direction). The circular saw cuts straight along the X-axis and Y-axis (the knife path cannot be changed, or the position of the stone slab is adjusted manually to reduce consumables), and directly cuts out stone slabs that meet the specifications of the customer's order. This method has high cutting efficiency, but does not consider the defects of the stone (black spots, discoloration, cracks, missing corners), resulting in a large number of defective stone slabs. All of these defective stone slabs are wasted, resulting in large stone loss and high production costs. ; This method is mainly suitable for stone materials whose raw materials are strips, and the customer's order specifications and sizes are relatively simple and the order quantity is large, so the production efficiency is improved by sacrificing loss; moreover, when the circular saw has cut a stone slab and is preparing to cut the next stone slab, the circular saw must move through the gap between the two stone slabs at the speed of cutting the stone slabs without changing the knife path, and will not speed up or raise the circular saw to accelerate. This method brings too many variables to the control of the overall equipment, and the error rate is too high. In actual production, the circular saw passes through the gap between the two stone slabs at the cutting speed, which is also an important factor affecting the low cutting efficiency; Second, low-loss cutting method, this method is mainly suitable for large slabs. A large slab is placed on the cutting table (only one large slab is placed on the cutting table), and the large slab is photographed by an industrial camera. The intelligent terminal avoids defects and performs layout, and then moves the circular saw for cutting, and is equipped with a suction cup to move the cut stone slab to obtain the knife space for the circular saw to cut; this method can avoid defective areas to maximize the utilization of stone, and the stone loss is low, but it is not suitable for cutting multiple strip stones. Multiple strip stones are placed on the device for cutting, and it is impossible to adjust multiple stones. Each stone is still individually layout and cut in the way of cutting large slabs. There is no linkage design and cutting for multiple stone slabs, resulting in low cutting efficiency (many plate moving operations, long time); this method is only suitable for situations where customer order specifications and sizes are messy and the order quantity is small. Chinese document CN 110861217 A discloses a free layout and cutting method for stone cutting robots, which is the second low-loss and low-efficiency cutting method.

[0005] In order to avoid frequent forward and reverse rotation of the circular saw (it is necessary to ensure that the saw blade's cutting rotation direction is downward on the stone slab surface during cutting), the circular saw can only cut in one direction. The empty travel caused by the circular saw's retraction is inevitable. Because the circular saw needs to be cooled, the circular saw only cuts in one direction, which is conducive to throwing out the cooling water (mixed with rock powder, actually mud water) in one direction. Mud accumulation in this direction is not conducive to loading and unloading. At the same time, in actual production, when the circular saw is cutting, the stone slab must be cut in this direction on the same tool path. It is impossible for the circular saw to cut a part of the stone slab, then change direction to cut, and then cut a stone slab of the same size from a large slab.

[0006] In addition, unloading the stone from the cutting table after cutting is also an important factor affecting cutting efficiency. The above two processing methods can only unload the stone after all the stones have been cut.

[0007] The above two methods cannot meet the actual production needs very well. Customers' orders vary in size and their specifications cannot be unified. The stone processing factory hopes to place multiple strips on the same cutting table to achieve high cutting efficiency and low stone loss. That is, to combine the advantages of the above two processing methods, taking into account both cutting efficiency and cutting loss, ensuring cutting efficiency while ensuring low cutting loss. Summary of the invention

[0008] In view of this, it is necessary to provide a high-efficiency and low-loss stone cutting method which is easy to use, high in production efficiency and low in stone loss.

[0009] In order to solve the above technical problems, the technical solution of the present invention is: an efficient and low-loss stone cutting method, the cutting method is equipped with a stone cutting device, the stone cutting device includes an industrial computer, a cutting table, an industrial camera, a circular saw head with an XYZ three-coordinate movement function located above the cutting table, and a suction cup manipulator, the circular saw head has a rotation function on the XY plane, the cutting table has a first cutting area and a second cutting area along the X-axis direction, and is performed according to the following steps: S1. Loading: Place several strip-shaped stone slabs adjacent to each other in the second cutting area in sequence, with adjacent sides of adjacent stone slabs placed close together to minimize the gap between adjacent stone slabs; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, planning the tool path of each stone slab in the X-axis direction and the Y-axis direction; S4, tool path judgment: according to the typesetting result, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs that have tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; S5, board moving, cutting and unloading: each time a different-path board is moved to the first cutting area by the suction cup manipulator, the circular saw head cuts the different-path board and completes unloading, and then the next different-path board is moved to the first cutting area to complete cutting and unloading, until all the different-path boards located in the second cutting area are completed with board moving, cutting and unloading; S6, cutting and unloading: complete cutting and unloading of the same road slabs retained in the second cutting area.

[0010] Furthermore, in step S1, the length direction of the stone slab is parallel to the Y-axis direction.

[0011] Furthermore, the cutting table has a positioning reference parallel to the X-axis direction.

[0012] Furthermore, in step S1, a straight side of the stone slab is flush with the positioning reference.

[0013] Furthermore, in step S6, when there is at least one different-path board between adjacent same-path boards, after those different-path boards are removed, the same-path boards are moved in the second cutting area by a suction cup robot so that adjacent side edges of adjacent same-path boards are placed close together to minimize the gap between adjacent same-path boards, and then those same-path boards are cut.

[0014] Furthermore, in step S6, when there are no different-path boards between adjacent same-path boards, the same-path boards are cut by a circular saw head.

[0015] Furthermore, the tool paths in the same straight line in the X-axis direction are preferentially cut. When the tool paths in the same straight line in the X-axis direction are cut, if the remaining multiple stone slabs do not have tool paths in the same straight line in the X-axis direction, that is, there are different-path boards, these different-path boards are operated according to step S5.

[0016] Furthermore, when the stone slab is cut, the tool path that can cut through the entire stone slab along the X-axis direction or the Y-axis direction is preferentially cut.

[0017] Furthermore, when there are tool paths that intersect the X-axis and the Y-axis in the same stone slab, the tool path that can cut through the entire stone slab along the X-axis direction or the Y-axis direction is preferentially cut, and then the cut plate is moved to provide space for the circular saw head to allow the tool to move.

[0018] Furthermore, in step S5, the shortest distance between the different-path plate moved to the first cutting area and the stone plate located on the second cutting area in the X-axis direction is a knife clearance space.

[0019] Furthermore, the first cutting area is located at one end of the cutting table along the X-axis direction.

[0020] Furthermore, in step S3, the layout design should avoid the defective area.

[0021] Compared with the prior art, the present invention has the following beneficial effects: The stones are placed next to each other when loading, which reduces the need to move the stone slabs and thus reduces production time.

[0022] By taking photos and layout, we can avoid defective areas on the stone and improve the utilization rate of the stone.

[0023] By moving the stone slabs with different knife paths and then cutting them, not only the cutting efficiency is improved, but also the labor intensity of workers when cutting materials is reduced, thereby improving production efficiency.

[0024] By combining the cutting of stone slabs with the same tool path, the number and time of circular saw empty cuts are greatly reduced, the cutting efficiency is improved, and thus the production efficiency is improved.

[0025] Because of the space occupied by the crane where the circular saw is located, the unloading area of ​​the cutting table is limited, and the workers cannot freely unload materials at any position on both sides of the cutting table; because the cooling water is thrown toward the second cutting area, this area cannot be used for unloading; therefore, the workers usually lift one end of the cut stone, and then drag it on the cutting table to the first cutting area for unloading. By setting the cutting table in different areas, the unloading time of the workers is shortened, the labor intensity of the workers is reduced, and the stone cutting equipment using this method can be placed in the corner of the factory building, making the placement of the stone cutting equipment more flexible.

[0026] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the distribution of cutting tables in an embodiment of the present invention.

[0028] Figure 2 Schematic diagram of typesetting scheme 1 in an embodiment of the present invention.

[0029] Figure 3 It is a schematic diagram of a situation of typesetting scheme 2 in an embodiment of the present invention.

[0030] Figure 4 It is a schematic diagram of another situation of typesetting scheme 2 in an embodiment of the present invention.

[0031] Figure 5 Schematic diagram of typesetting scheme three in an embodiment of the present invention.

[0032] Figure 6 Schematic diagram of typesetting scheme 4 in an embodiment of the present invention.

[0033] In the figure: 1-cutting table, 11-first cutting area, 12-second cutting area, 13-stone slab. DETAILED DESCRIPTION

[0034] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0035] A high-efficiency and low-loss stone cutting method, which is suitable for cutting rectangular stone slabs, especially granite slabs with extremely high hardness; the cutting method is equipped with a stone cutting device, which includes an industrial computer, a cutting table 1, an industrial camera, a circular saw head with an XYZ three-coordinate movement function located above the cutting table, and a suction cup manipulator, wherein the circular saw head has a rotation function on the XY plane. In this embodiment, the circular saw head has a 90° rotation function, that is, it satisfies the cutting function in the X-axis and Y-axis directions, such as Figure 1 As shown, the cutting table has a first cutting area 11 and a second cutting area 12 along the X-axis direction. The first cutting area 11 is located at one end of the cutting table along the X-axis direction.

[0036] The movement of the circular saw head and the suction cup manipulator is usually carried out with the help of a crane. The gantry of the crane is on both sides of the stone cutting equipment (defined as the two ends in the Y-axis direction). In order to make full use of the factory space, the gantry of the crane is close to the two sides of the stone cutting table, which leads to limited walking space on both sides of the stone cutting platform. Workers generally do not unload materials on both sides of the stone cutting platform; and because the cooling water is thrown toward the second cutting area, this area cannot be used for unloading; workers lift one end of the cut stone, and then drag the stone on the cutting table to the first cutting area for unloading. Therefore, the cutting table has a first cutting area 11 and a second cutting area 12 along the X-axis direction. Part of the stone is preferentially placed in the first area for cutting, and the workers can directly unload the cut stone there, and no longer need to drag the stone on the cutting table, which greatly shortens the unloading time and improves production efficiency.

[0037] In this embodiment, the cutting table has a positioning reference parallel to the X-axis direction. When loading, a straight side of the stone slab is flush with the positioning reference to reduce the difficulty of camera recognition and the number of subsequent plate shifting.

[0038] In this embodiment, in order to minimize the time spent on moving the plate, the closest distance between the different-path plate moved to the first cutting area and the stone slab 13 located in the second cutting area in the X-axis direction is a knife clearance space, so that the different-path plate can be cut immediately after being placed in the first cutting area, and the cutting will not damage the same-path plate located in the second cutting area or the different-path plate that has not been cut.

[0039] In this embodiment, when the stone slab is cut, the tool path that can cut through the entire stone slab along the X-axis direction or the Y-axis direction is preferentially cut.

[0040] In this embodiment, when there is a tool path that intersects the X-axis and the Y-axis in the same stone slab, the tool path that can cut through the entire stone slab along the X-axis direction or the Y-axis direction is cut first, and then the cut plate is moved to provide space for the circular saw head to make room for the tool.

[0041] In this embodiment, the layout design should avoid the defective area.

[0042] In this embodiment, when cutting, priority is given to cutting the tool paths in the X-axis direction and on the same straight line. After cutting is completed, the plate that needs to be moved is moved, the material that needs to be unloaded is unloaded, and then the cutting in the Y-axis direction is started. This can avoid the situation where the tool paths on the same board only exist partially on the same straight line. In this case, if cutting along the Y-axis direction first, after the same board is cut, the different-path boards will be broken into many pieces, which increases the number of times the board is moved, but reduces production efficiency.

[0043] The following is an example of a typical stone cutting machine cutting a stone slab with a length of 2000mm, a width of 500mm and a thickness of 30mm. The production data of the stone cutting machine are as follows: Circular saw diameter: 350mm; The clearance for cutting tool is 196mm; Cutting speed: 100mm / s; Idle speed: 500mm / s; Plate moving speed: 50mm / s; It takes 1 second for the circular saw head to be lifted up and 2 seconds for it to be lowered. Each cutting path requires one lowering and one lifting of the knife. It takes 1 second for the suction cup robot to lift up and move the plate and 2 seconds for it to be lowered. Each time the plate is moved, the knife needs to be lowered twice and lifted twice.

[0044] This method is elaborated in detail with different stone layout schemes.

[0045] Layout plan 1, such as Figure 2 As shown: S1, loading: three 30 mm thick strip stone slabs 13 are placed adjacent to each other in the second cutting area 12 in sequence, with the adjacent sides of the adjacent stone slabs placed close together to minimize the gap between the adjacent stone slabs; the length direction of the stone slabs is parallel to the Y-axis direction; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, such as Figure 2 As shown, all three slabs have no defects. The tool paths of each slab in the X-axis direction and the Y-axis direction are planned. The tool paths of the three slabs in the X-axis and Y-axis directions are the same (the dotted lines in the slabs are the tool paths); S4, tool path judgment: According to the typesetting results, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs with tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; according to the data results of S3, the three stone slabs are all same-path slabs; S5. Cutting and unloading: The three stone slabs are all on the same path, so there is no need to use a suction cup manipulator to move the slabs. The three stone slabs left in the second cutting area can be cut directly by the circular saw head. The stone slabs can be cut along the X-axis or Y-axis direction. After cutting, the workers will drag the cut stone slabs along the cutting table to the first cutting area for unloading.

[0046] According to the data of the stone cutting equipment, when the present cutting method is not adopted, the three stone slabs need to be arranged at intervals (to ensure the knife clearance), and the interval between adjacent stone slabs is the knife clearance of 196 mm; with the same layout scheme, in the old cutting method (the efficient cutting method in the background technology), the circular saw needs to pass the knife clearance of 196 mm 14 times at a cutting speed of 100 mm / s in the X-axis direction, and the additional time required is 196×14÷100=27.44 seconds, that is, the present cutting method saves 27.44 seconds compared with the prior art.

[0047] Layout plan 2, such as Figure 3 and 4 As shown: S1. Loading: Place three 30mm thick strip stone slabs in sequence adjacent to each other in the second cutting area, with the adjacent sides of the adjacent stone slabs close together to minimize the gap between the adjacent stone slabs; the length direction of the stone slabs is parallel to the Y-axis direction; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, such as Figure 3 and 4 As shown in the figure, the tool path of each stone slab in the X-axis direction and the Y-axis direction is planned (the dotted line in the stone slab). This time, one of the three stone slabs has a defect, which is located at the beginning of the three slabs (such as Figure 3 ) or end (such as Figure 4 ); S4, tool path judgment: According to the typesetting results, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs with tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; according to the data results of S3, there is one different-path slab and two same-path slabs; S5, plate moving, cutting and unloading: the suction cup robot Figure 3 The different road plate at the head end may Figure 4 The different-path plate at the end moves to the first cutting area, and the circular saw head cuts the different-path plate and completes the cutting; S6. Cutting and unloading: The remaining two stone slabs are on the same path, and there is no gap between the two slabs. Therefore, there is no need to use a suction cup manipulator to move the slabs. The two on-the-spot slabs left in the second cutting area can be cut directly by the circular saw head. The stone slabs can be cut along the X-axis or Y-axis direction. After cutting, the workers will drag the cut stone slabs along the cutting table to the first cutting area for unloading.

[0048] When one of the stones is a different-path board, the program cannot handle it when the efficient cutting method in the background technology is used for cutting. The different-path board can only be ignored and directly regarded as having three same-path boards for cutting. Or the position of the different-path board can be adjusted through manual intervention so that its tool path in the X-axis direction is in the same straight line as the tool paths of the other two boards. However, in this way, the position of the different-path board must be stopped and adjusted every time it is cut. This is impossible to operate in actual production. The only way to cut is to ignore it, resulting in some boards cut from the different-path board having defects and cannot be used, causing loss of stone. Compared with the time saved, the cost waste caused is greater, and for production plans with large customer orders, the losses caused are too great.

[0049] Through this cutting method, Figure 3The length of the middle moving plate is 500×3+196=1696mm, and the time taken to move the plate is 1696÷50=33.92 seconds, and the time taken to lift the moving plate is 6 seconds. Compared with the efficient cutting method in the background technology, it also takes 27.44 seconds to walk to make room for the knife, and the circular saw head has a faster idling speed, and only needs to walk one more round trip. The idling + lifting time takes about 1696÷500+3=6.392 seconds. Compared with the prior art, this cutting method takes 33.92+6+6.392-27.44=18.872 seconds more. Of course, if there are fewer knife paths, the time taken to move the plate in this cutting method is fixed, and the prior art reduces its idling time, and this cutting method will not exceed the total time taken to move the plate and lift the plate; if there are more knife paths, the idling time taken by the prior art is longer or even greater than the total time taken to move the plate and lift the plate in this application.

[0050] Figure 4 The length of the middle moving plate is 500+196=696mm, and the time taken to move the plate is 696÷50=13.92 seconds, and the time taken to lift the plate is 6 seconds. Compared with the efficient cutting method in the background technology, it also takes 27.44 seconds to walk and make room for the knife, and the circular saw head has a faster idling speed, and only needs to move one more round trip. The idling + lifting time takes about 696÷500+3=4.392 seconds. Compared with the prior art, this cutting method takes 13.92+6+4.392-27.44=-3.128 seconds more.

[0051] comprehensive Figure 3 and Figure 4 It is obvious from the two layout methods that the cutting method is time-consuming in moving the plate and the time spent on lifting and lowering the plate. Compared with the time wasted by the circular saw walking in the prior art, and based on the number of tool paths along the X-axis direction, it can be known that the time spent by the cutting method is more time-saving than the prior art under certain conditions. At the same time, the cutting method continues the advantages of the low-loss cutting method in the prior art, and truly achieves the utilization rate of the stone while ensuring the cutting efficiency, that is, the method has the advantages of the two major routes in the prior art.

[0052] Layout plan three, such as Figure 5 As shown: S1. Loading: Place three 30mm thick strip stone slabs in sequence adjacent to each other in the second cutting area, with the adjacent sides of the adjacent stone slabs close together to minimize the gap between the adjacent stone slabs; the length direction of the stone slabs is parallel to the Y-axis direction; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, such as Figure 5As shown, the tool path of each stone slab in the X-axis direction and the Y-axis direction is planned (the dotted line in the stone slab). This time, one of the three stone slabs has a defect, which is located in the middle of the three slabs; S4, tool path judgment: According to the typesetting results, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs with tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; according to the data results of S3, there is one different-path slab and two same-path slabs; S5, plate moving, cutting and unloading: the suction cup robot Figure 5 The different-path plate in the middle moves to the first cutting area, and the circular saw head cuts the different-path plate and completes the cutting; S6. Cutting and unloading: the remaining two stone slabs are on the same path, and there is a gap between the two slabs. The suction cup manipulator moves the on-the-spot slab far away from the first cutting area toward the first cutting area in the second cutting area, so that its side wall is close to the stationary on-the-spot slab, and the adjacent sides of adjacent on-the-spot slabs are placed close to each other, so as to minimize the gap between adjacent on-the-spot slabs. Then, the circular saw head is used to cut the two on-the-spot slabs retained in the second cutting area, and the stone slabs can be cut along the X-axis or Y-axis direction. After cutting, the worker drags the cut stone slabs along the cutting table to the first cutting area for unloading.

[0053] Through this cutting method, Figure 5 The moving length of the different-path plate is 500×2+196=1196mm, the moving length of the same-path plate is 500mm, the total moving length is 1696mm, and the moving time is 1696÷50=33.92 seconds. The moving plate takes 12 seconds to lift and lower twice. Compared with the efficient cutting method in the background technology, it also takes 27.44 seconds to walk and make room for the knife, and the circular saw head has a faster idling speed, and only needs to move one more round trip. The idling + lifting time is about 1196÷500+3=5.392 seconds. Compared with the prior art, this cutting method takes 33.92+12+5.392-27.44=23.872 seconds more. Of course, if there are fewer tool paths, the time consumed for moving the plate in this cutting method is fixed, the prior art reduces its idle time, and this cutting method will not exceed the total time consumed for moving the plate and lifting the plate; if there are more tool paths, the idle time consumed in the prior art is longer or even greater than the total time consumed for moving the plate and lifting the plate in this application.

[0054] from Figure 5In the typesetting scheme, this cutting method is adopted. The time consumed by this method lies in the time consumed in moving the plate and lifting and lowering the plate. Compared with the time wasted by the circular saw walking in the prior art, and according to the number of tool paths along the X-axis direction, it can be known that the time consumed by this cutting method is more time-saving than the prior art under certain conditions. At the same time, this cutting method continues the advantages of the low-loss cutting method in the prior art, and truly realizes the utilization rate of the stone while ensuring the cutting efficiency, that is, this method has the advantages of the two major routes in the prior art.

[0055] Typesetting scheme 4, such as Figure 6 As shown: S1. Loading: Place three 30mm thick strip stone slabs in sequence adjacent to each other in the second cutting area, with the adjacent sides of the adjacent stone slabs close together to minimize the gap between the adjacent stone slabs; the length direction of the stone slabs is parallel to the Y-axis direction; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, such as Figure 6 As shown, the tool path of each stone slab in the X-axis direction and the Y-axis direction is planned (the dotted line in the stone slab). There is a tool path on the same straight line among the three stone slabs. S4, tool path judgment: According to the typesetting results, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs with tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; according to the data results of S3, the three stone slabs are same-path slabs; S5, cutting and unloading: the three slabs are on the same path, so there is no need to use a suction cup manipulator to move the slabs. The three slabs on the same path left in the second cutting area are directly cut along the tool path on the same straight line by the circular saw head. The slabs are first cut along the X-axis direction, and the Y-axis direction is not cut. At this time, the cut slabs still have a tool path in the Y-axis direction, which is put aside for cutting later; S6, tool path judgment: the industrial computer judges the tool path again. After S5 cuts the tool path on the same straight line, according to the data results of S5, there is one different-path board and two same-path boards in the remaining stone slabs after cutting, and the different-path board is located between the two same-path boards; S7, plate moving, cutting and unloading: the suction cup robot Figure 6 The different-path plate in the middle moves to the first cutting area, and the circular saw head cuts the different-path plate and completes the cutting; S6, cutting and unloading: the remaining two stone slabs are same-path slabs, and there is a gap between the two slabs. The suction cup manipulator moves the same-path slab far away from the first cutting area toward the first cutting area in the second cutting area, so that its side wall is close to the stationary same-path slab, and the adjacent side edges of adjacent same-path slabs are placed close to each other, so as to minimize the gap between adjacent same-path slabs. Then, the two same-path slabs retained in the second cutting area and the stone slabs cut out in step S5 are cut uniformly by the circular saw head, and the stone slabs can be cut along the X-axis or Y-axis direction. After cutting, the worker drags the cut stone slabs along the cutting table to the first cutting area for unloading.

[0056] Through this cutting method, multiple stone slabs are first cut with tool paths on the same straight line, and then the remaining stone slabs become the three types of layout schemes, and the time-consuming calculation method can be referred to above.

[0057] Combining the above-mentioned various layout schemes, this cutting method truly combines the advantages of existing cutting methods and abandons the disadvantages of existing cutting methods, achieving the technical effects of high cutting efficiency, less stone loss and low labor intensity of workers.

[0058] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A high-efficiency and low-loss stone cutting method, which is equipped with a stone cutting device, which includes an industrial computer, a cutting table, an industrial camera, a circular saw head with an XYZ three-coordinate movement function located above the cutting table, and a suction cup manipulator, wherein the circular saw head has a rotation function on the XY plane, and is characterized in that: The cutting table has a first cutting area and a second cutting area along the X-axis direction, and is performed according to the following steps: S1. Loading: Place several strip-shaped stone slabs adjacent to each other in the second cutting area in sequence, with adjacent sides of adjacent stone slabs placed close together to minimize the gap between adjacent stone slabs; S2, image acquisition: using an industrial camera to take pictures of the stone slab placed on the second cutting area to obtain the stone slab outline and stone slab defect data; S3, layout: The industrial computer reads the stone slab outline and stone slab defect data, and performs layout design for each stone slab, planning the tool path of each stone slab in the X-axis direction and the Y-axis direction; S4, tool path judgment: according to the typesetting result, the industrial computer judges whether different stone slabs have tool paths that are on the same straight line in the X-axis direction. The tool path is a tool path that can cut the entire stone slab along the straight line on the same stone slab. Different stone slabs that have tool paths that are on the same straight line in the X-axis direction are defined as same-path slabs, and stone slabs that do not have tool paths on the same straight line in the X-axis direction are defined as different-path slabs; S5, board moving, cutting and unloading: each time a different-path board is moved to the first cutting area by the suction cup manipulator, the circular saw head cuts the different-path board and completes unloading, and then the next different-path board is moved to the first cutting area to complete cutting and unloading, until all the different-path boards located in the second cutting area are completed with board moving, cutting and unloading; S6, cutting and unloading: complete cutting and unloading of the same road slabs retained in the second cutting area.

2. The high-efficiency and low-loss stone cutting method according to claim 1 is characterized in that: In step S1, the length direction of the stone slab is parallel to the Y-axis direction.

3. The high-efficiency and low-loss stone cutting method according to claim 1 is characterized in that: The cutting table has a positioning reference parallel to the X-axis direction.

4. The high-efficiency and low-loss stone cutting method according to claim 3 is characterized in that: In step S1, a straight side of the stone slab is flush with the positioning reference.

5. The high-efficiency and low-loss stone cutting method according to claim 1 is characterized in that: In step S6, when there is at least one different-path board between adjacent same-path boards, after these different-path boards are removed, the same-path boards are moved in the second cutting area by a suction cup manipulator so that adjacent side edges of adjacent same-path boards are placed close together to minimize the gap between adjacent same-path boards, and then these same-path boards are cut.

6. The high-efficiency and low-loss stone cutting method according to claim 1 is characterized in that: In step S6, when there is no different-path board between adjacent same-path boards, the same-path boards are cut by a circular saw head.

7. A high-efficiency and low-loss stone cutting method according to claim 5 or 6, characterized in that: Priority is given to cutting the tool paths in the same straight line in the X-axis direction among the same-path boards. After the tool paths in the same straight line in the X-axis direction among the same-path boards are cut, if the remaining multiple stone slabs do not have tool paths in the same straight line in the X-axis direction, that is, there are different-path boards, these different-path boards are operated according to step S5.

8. The high-efficiency and low-loss stone cutting method according to claim 1, characterized in that: When there are tool paths that intersect the X-axis and the Y-axis in the same stone slab, the tool path that can cut through the entire stone slab along the X-axis direction or the Y-axis direction is cut first, and then the cut plate is moved to provide space for the circular saw head to make room for the tool.

9. The high-efficiency and low-loss stone cutting method according to claim 1, characterized in that: In step S5, the shortest distance between the different-path plate moved to the first cutting area and the stone plate located in the second cutting area in the X-axis direction is a cutter clearance space.

10. The high-efficiency and low-loss stone cutting method according to claim 1, characterized in that: The first cutting area is located at one end of the cutting table along the X-axis direction.

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