Equipment and method for assisting manual carving of stone

Abstract

The invention discloses equipment for assisting manual carving of stones, and belongs to the field of mechanical auxiliary manual carving of the stones. The equipment comprises a workbench with a height adjusting function, a base is arranged at the bottom end of the workbench, and the top end of the workbench is connected with a lifting plate with an opening in the middle through a triangular supporting lifting assembly; the lifting plate is connected with a rotating table located in the middle of the lifting plate through a gear transmission assembly, the edge of the bottom end of the rotating table is provided with a plurality of stone top side image scanning and monitoring assemblies and a multi-degree-of-freedom mechanical arm, and the free end of the multi-degree-of-freedom mechanical arm is provided with a stone clamping structure or a stone auxiliary chiseling and punching structure. According to the equipment and method for assisting manual carving of the stone, the stone is clamped and fixed in a mechanical assistance mode, chiseling and punching are assisted for manual carving, the labor intensity of carving personnel is reduced, and the carving efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanically assisted stone carving technology, and in particular to a device and method for assisting stone carving. Background Technology

[0002] Stone hand carving is a traditional craft that uses natural stone as its medium, combining the artist's experience and artistic conception with hand tools (chisels, knives, hammers, sandpaper, etc.) to achieve a fusion of material beauty and craftsmanship. Its core lies in "artistic application according to the material"—respecting the natural texture and hardness of the stone while imbuing it with humanistic connotations through handcrafting techniques. Among these, Songhua stone hand carving, due to its unique material and historical origins, has become a branch of stone hand carving with strong regional and cultural characteristics.

[0003] The categories of Songhua stone hand-carved items revolve around the characteristics of the material, forming a structure of "primarily practical, supplemented by decorative pieces." The main items are Songhua inkstones, along with various decorative and practical small items. Due to the complexity of the craft, Songhua stone carving often requires highly skilled master craftsmen to meticulously carve for several days. Each carving session is lengthy, and the manual handling is time-consuming and laborious, posing a significant challenge to the carver's physical strength and endurance. Summary of the Invention

[0004] The purpose of this invention is to provide a device and method for assisting in manual stone carving. The device clamps the stone, and a high-definition camera and laser scanner monitor the stone carving process. A multi-degree-of-freedom robotic arm is used to assist in fixing and carving, thereby reducing the labor intensity of the carver, improving the comfort of the carver, saving carving time, and thus improving carving efficiency.

[0005] To achieve the above objectives, the present invention provides a device for assisting in manual stone carving, comprising a worktable with height adjustment function, a base at the bottom of the worktable, and a top of the worktable connected to a lifting plate with a central opening via a triangular support lifting assembly. The lifting plate is connected to a rotary table located in the middle of the lifting plate via a gear transmission assembly. Several stone top-side image scanning and monitoring components and a multi-degree-of-freedom robotic arm are provided at the bottom edge of the rotary table. The free end of the multi-degree-of-freedom robotic arm is provided with a stone clamping structure or a stone auxiliary chiseling and punching structure. A transparent seat for placing the stone is provided on the worktable, and a three-dimensional scanning structure for the bottom of the stone is provided at the bottom of the transparent seat. The stone top-side image scanning and monitoring components include a laser scanner for acquiring three-dimensional images of the top and sides of the stone and a high-definition camera for monitoring the stone carving.

[0006] Preferably, the transparent base is made of tempered transparent glass, and the three-dimensional scanning structure of the bottom of the stone includes a receiving box set in the base, and a laser scanner for acquiring three-dimensional images of the bottom of the stone is set in the receiving box. The bottom of the laser scanner in the receiving box is connected to the receiving box through a two-dimensional moving platform.

[0007] Preferably, a hydraulic cylinder is installed inside the base, and the hydraulic rod of the hydraulic cylinder is connected to the bottom surface of the worktable.

[0008] Preferably, the triangular support lifting assembly includes three threaded rods arranged in a triangle. The bottom end of the threaded rod is rotatably connected to the worktable, and the top end of the threaded rod is rotatably connected to the top plate with a central opening. The lifting plate is located below the top plate and has threaded holes. The threaded rods are inserted into the threaded holes and connected to the threaded holes via threads. The top plate is equipped with a lifting motor, and the output shaft of the lifting motor is connected to the top end of the threaded rods.

[0009] Preferably, the gear transmission assembly includes several connecting gears. The middle opening of the lifting plate is connected to the rotating table through the connecting gears. A mounting frame is provided above the rotating table, and a rotary motor is provided on the mounting frame. A rotating shaft is fixed at the center of the rotating table. The output shaft of the rotary motor passes through the mounting frame and is connected to the rotating shaft. Both ends of the mounting frame are connected to the lifting plate. A rotating rod is fixed at the center of the connecting gear. Fixed frames are provided on the upper and lower sides of the connecting gear. One end of the fixed frame is rotatably connected to the rotating rod, and the other end of the fixed frame is connected to the lifting plate.

[0010] Preferably, a second hydraulic cylinder is provided at the bottom of the rotary table. The hydraulic rod of the second hydraulic cylinder is connected to the mounting plate. The mounting plate is rotatably connected to a laser scanner or high-definition camera used to collect three-dimensional images of the top and sides of the stone. An adjustment motor is provided on the side of the mounting plate to drive the laser scanner or high-definition camera used to collect three-dimensional images of the top and sides of the stone to rotate. The second hydraulic cylinder with the laser scanner and the second hydraulic cylinder with the high-definition camera are staggered.

[0011] Preferably, the multi-degree-of-freedom robotic arm includes a mounting base, which is connected to an inverted base via a hydraulic cylinder three. The inverted base is connected to the bottom end of a rotary table. A rotating base is rotatably mounted on the bottom end of the mounting base. An arm one is hinged to the bottom end of the rotating base. Arm one is sequentially hinged to arms two, three, and four. Arm four is connected to a stone clamping structure or a stone auxiliary chiseling structure. The multi-degree-of-freedom robotic arm with the stone clamping structure and the multi-degree-of-freedom robotic arm with the stone auxiliary chiseling structure are staggered.

[0012] Preferably, the stone clamping structure includes a rotating motor 1 mounted on arm 4, the output shaft of the rotating motor 1 being connected to a rotating plate 1, mechanical grippers symmetrically arranged on the rotating plate 1, the mechanical grippers being rotatably connected to the rotating plate 1 via gripper gear 1, a gripper gear 2 being rotatably arranged on the rotating plate, the gripper gear 2 being located in the middle of the gripper gear 1, the gripper gear 2 being meshed with the gripper gear 1, and a rubber pad being adhered to the side of the mechanical gripper used to clamp the stone; The stone auxiliary chiseling structure includes a rotating motor 2 mounted on arm 4. The output shaft of the rotating motor 2 is connected to a rotating plate 2. A deflection seat is mounted on the rotating plate 2. A chisel punch seat is rotatably mounted on the deflection seat. A deflection motor for driving the chisel punch seat to rotate is mounted on the deflection seat. A chisel punch hammer is rotatably mounted on the chisel punch seat. A chisel punch motor for driving the chisel punch hammer to perform chiseling action is mounted on the chisel punch seat. The output shaft of the chisel punch motor is connected to the hammer handle of the chisel punch hammer.

[0013] Preferably, it also includes a control system for controlling the lifting of the worktable, the lifting of the top plate, the rotation of the rotary table, the position adjustment of the laser scanner and high-definition camera and the processing of stone image data, the lifting and movement of the multi-degree-of-freedom robotic arm, the stone clamping adjustment, and the stone auxiliary chiseling adjustment. The control system is connected to a display screen for displaying three-dimensional images of the stone and defects on the stone surface.

[0014] This invention also provides a method for assisting in the manual carving of stone, comprising the following steps: Step 1: Stone placement and workbench adjustment: Place the stone to be carved stably on the transparent base of the workbench. Start the hydraulic cylinder in the base through the control system to adjust the height of the workbench. At the same time, operate the triangular support lifting component to adjust the height of the lifting plate so that the laser scanner, high-definition camera and multi-degree-of-freedom robotic arm at the bottom of the rotary table are at a suitable working height. Step 2, Full-Dimensional 3D Scan: The control system activates three types of scanning structures. The height of the laser scanner is adjusted by hydraulic cylinder 2, and the motor drives the laser scanner to rotate. The rotation is achieved in conjunction with the gear transmission assembly of the rotary table, which collects three-dimensional images of the top and sides of the stone. The laser scanner in the housing is positioned by a two-dimensional moving platform. The laser scanner in the housing penetrates the tempered glass to scan the bottom of the stone and generate three-dimensional data of the bottom. A high-definition camera captures the details of the stone surface in real time to assist in image stitching. Step 3, 3D modeling and defect annotation: The control system integrates the top, side, and bottom scanning data of the stone to generate a complete three-dimensional model of the stone, identify cracks, sand lines, and color defects, and mark them on the display screen; Step 4: Positioning and clamping the stone: The control system starts the multi-degree-of-freedom robotic arm with stone clamping structure. The height of the mounting base is adjusted by the hydraulic cylinder three. The rotating base and arms one to four work together to move the mechanical grippers to both sides of the stone. The rotating motor one drives the rotating plate one to rotate. The gripper gear two drives the gripper gear one to make the mechanical grippers close symmetrically and clamp the stone in the fixed position. Step 5, robotic arm-assisted carving: Real-time monitoring by a high-definition camera synchronizes the image to the display screen. The control system activates a multi-degree-of-freedom robotic arm with a stone-assisted chiseling and punching structure. The height of the mounting base is adjusted by hydraulic cylinder three, and the rotating base and arms one to four move in coordination. Rotating motor two drives rotating plate two to rotate, and deflection motor adjusts the angle of the chiseling and punching base. The chiseling and punching motor drives the chiseling and punching hammer to perform chiseling and punching actions. The rotary table rotates in real time through a gear transmission assembly to coordinate with the robotic arm to adjust its position. Step Six, Real-time Monitoring: During the carving process, a high-definition camera continuously captures the carving area, and the image is simultaneously displayed on a screen. The carver zooms in to observe the carving position and makes real-time adjustments through the screen and control system until the carving is completed.

[0015] Therefore, the present invention, employing the aforementioned auxiliary stone carving equipment and method, has the following beneficial effects: This invention utilizes a lifting worktable to match the carving height and posture of the sculptor, improving carving comfort. A gear transmission assembly drives the rotary table to rotate, and a set of rotating structures adjusts the positions of the multi-degree-of-freedom robotic arm, high-definition camera, and laser scanner, optimizing the structural layout. The multi-degree-of-freedom robotic arm, in conjunction with mechanical grippers, holds the stone, while the high-definition camera and laser scanner monitor the stone carving process. The combination of the multi-degree-of-freedom robotic arm and a stone-assisted chisel structure assists manual carving, reducing the labor intensity of the sculptor, improving their comfort, saving carving time, and ultimately increasing carving efficiency.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a device for assisting in manual stone carving according to the present invention; Figure 2 This is a perspective view of the connection between the triangular support lifting assembly and the gear transmission assembly in an embodiment of a device for assisting manual stone carving according to the present invention. Figure 3 This is a top view of a gear transmission assembly according to an embodiment of a device for assisting manual stone carving of the present invention; Figure 4 This is a schematic diagram of a stone clamping structure according to an embodiment of a device for assisting manual stone carving of the present invention; Figure 5 This is a schematic diagram of the stone-assisted chiseling structure of an embodiment of a device for assisting manual stone carving according to the present invention.

[0018] In the diagram: 1. Workbench; 2. Base; 3. Hydraulic cylinder one; 4. Transparent seat; 5. Receiving box; 6. Laser scanner; 7. Threaded rod; 8. Top plate; 9. Lifting plate; 10. Connecting gear; 11. Rotary table; 12. Mounting bracket; 13. Rotating shaft; 14. Rotary motor; 15. Fixed bracket; 16. Rotating rod; 17. Hydraulic cylinder two; 18. Mounting plate; 19. Adjusting motor; 20. Multi-degree-of-freedom robotic arm; 21. Stone clamping structure; 22. Servo motor. 23. Mounting base; 24. Hydraulic cylinder three; 25. Inverted seat; 26. Arm one; 27. Arm two; 28. Arm three; 29. ​​Arm four; 30. Rotary motor one; 31. Rotating plate one; 32. Gripper gear one; 33. Gripper gear two; 34. Mechanical gripper; 35. Rotary motor two; 36. Rotating plate two; 37. Deflection seat; 38. Deflection motor; 39. Rotating seat; 40. Chisel hammer; 41. Chisel motor; 42. Lifting motor; 43. Chisel seat. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages disclosed in the embodiments of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0020] It should be noted that the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or server that includes a series of steps or units, not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such processes, methods, products, or devices.

[0021] Similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0023] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] This embodiment provides a device to assist in the hand carving of stone, primarily for the hand carving of Songhua stone. Songhua stone is a sedimentary microcrystalline limestone formed during the Sinian period 800 million years ago, mainly produced in Baishan, Tonghua, and Yanbian in Jilin Province. Songhua stone has a moderate hardness (Mohs 4-5), harder than marble (difficult to carve through) but softer than granite (suitable for hand carving). It can be used for both high-relief carving (such as the "dragon and phoenix" patterns on inkstones) and fine texture carving (such as the "hairline" lines on brush-textured inkstones), making it the "golden hardness" for hand carving. Using mechanical assisted clamping in conjunction with mechanical chisels and punches can reduce the labor intensity of carvers and improve carving efficiency. This is especially beneficial for older carvers, reducing continuous working hours, preventing overwork, and ensuring their health.

[0025] like Figure 1 , Figure 2 As shown, the auxiliary stone carving equipment includes a circular worktable 1 with height adjustment function, and a base 2 is provided at the bottom of the worktable 1. A hydraulic cylinder 3 is installed in the base 2, and the hydraulic rod of the hydraulic cylinder 3 is connected to the bottom surface of the worktable 1 to realize the height adjustment of the worktable 1.

[0026] A transparent base 4 for placing stone is provided on the workbench 1. A 3D scanning structure for the bottom of the stone is located at the bottom of the transparent base 4. The transparent base 4 is made of tempered transparent glass. The 3D scanning structure for the bottom of the stone includes a receiving box 5 housed within the base 2. A laser scanner 6 for acquiring 3D images of the bottom of the stone is located within the receiving box 5. The bottom of the laser scanner 6 within the receiving box 5 is connected to the receiving box 5 via an existing XY 2D moving platform.

[0027] The top of the workbench 1 is connected to a centrally open lifting plate 9 via a triangular support lifting assembly. The lifting plate 9 is connected to a rotary table 11 located in the middle of the lifting plate 9 via a gear transmission assembly. The triangular support lifting assembly includes three threaded rods 7 arranged in a triangle. The bottom of the threaded rods 7 is rotatably connected to the workbench 1, and the top of the threaded rods 7 is rotatably connected to a centrally open top plate 8. The lifting plate 9 is located below the top plate 8 and has threaded holes. The threaded rods 7 are inserted into the threaded holes and connected to the threaded holes via threads. A lifting motor 42 is installed on the top plate 8, and the output shaft of the lifting motor 42 is connected to the top of the threaded rods 7.

[0028] like Figure 3 As shown, the gear transmission assembly includes several connecting gears 10. The central opening of the lifting plate 9 is connected to the rotating platform 11 via the connecting gears 10. A mounting frame 12 is provided above the rotating platform 11, and a rotary motor 14 is mounted on the mounting frame 12. A rotating shaft 13 is fixed at the center of the rotating platform 11. The output shaft of the rotary motor 14 passes through the mounting frame 12 and is connected to the rotating shaft 13. Both ends of the mounting frame 12 are connected to the lifting plate 9. A rotating rod 16 is fixed at the center of the connecting gear 10, and fixed frames 15 are provided on the upper and lower sides of the connecting gear 10. One end of the fixed frame 15 is rotatably connected to the rotating rod 16, and the other end of the fixed frame 15 is connected to the lifting plate 9.

[0029] The bottom edge of the rotary table 11 is equipped with several stone top and side image scanning and monitoring components and a multi-degree-of-freedom robotic arm 20. The stone top and side image scanning and monitoring components include a laser scanner 6 for acquiring three-dimensional images of the top and sides of the stone, and a high-definition camera for monitoring stone carving. A hydraulic cylinder 17 is located at the bottom of the rotary table 11, and the hydraulic rod of the hydraulic cylinder 17 is connected to a mounting plate 18. The mounting plate 18 is rotatably connected to the laser scanner 6 or the high-definition camera for acquiring three-dimensional images of the top and sides of the stone. An adjusting motor 19 is located on the side of the mounting plate 18 to drive the rotation of the laser scanner 6 and the high-definition camera for acquiring three-dimensional images of the top and sides of the stone. A portion of the hydraulic cylinders 17 are connected to the laser scanner 6, and another portion are connected to the high-definition camera; the hydraulic cylinders 17 with the laser scanner 6 and the hydraulic cylinders 17 with the high-definition camera are staggered.

[0030] One part of the multi-degree-of-freedom robotic arm 20 has a stone clamping structure 21 at its free end, while another part has a stone-assisted chiseling structure. The multi-degree-of-freedom robotic arm 20 includes a mounting base 23, which is connected to an inverted base 25 via a hydraulic cylinder 24. The inverted base 25 is connected to the bottom end of a rotary table 11. A rotating base 39 is rotatably mounted at the bottom end of the mounting base 23. An arm 26 is hinged to the bottom end of the rotating base 39. Arm 26 is sequentially hinged to arms 27, 28, and 29. Arm 29 is connected to either the stone clamping structure 21 or the stone-assisted chiseling structure. The multi-degree-of-freedom robotic arm 20 with the stone clamping structure 21 and the multi-degree-of-freedom robotic arm 20 with the stone-assisted chiseling structure are staggered. The multi-degree-of-freedom robotic arm 20 uses an existing robotic arm structure.

[0031] like Figure 4 , Figure 5 As shown, the stone clamping structure 21 includes a rotating motor 30 mounted on arm 4 29, with its output shaft connected to a rotating plate 31. Mechanical grippers 34 are symmetrically arranged on the rotating plate 31, and are rotatably connected to it via gripper gears 32. A second gripper gear 33 is rotatably mounted on the rotating plate, located in the middle of the first gripper gear 32, and meshes with the first gripper gear 32. A servo motor 22 is mounted on the rotating plate 31, driving the second gripper gear 33 to rotate, which in turn drives the first gripper gear 32 to open and close the mechanical grippers 34. A rubber pad (to prevent damage to the stone) is adhered to the side of the mechanical gripper 34 used to clamp the stone. The stone auxiliary chiseling structure includes a rotating motor 35 mounted on arm 4 29, with its output shaft connected to a rotating plate 36. A deflector seat 37 is provided on the rotating plate 36, and a punch seat 43 is rotatably mounted on the deflector seat 37. A deflector motor 38 is provided on the deflector seat 37 to drive the punch seat 43 to rotate and deflect. A punch hammer 40 is rotatably mounted on the punch seat 43. A punching motor 41 is provided on the punching seat 43 to drive the punching hammer 40 to perform punching action. The output shaft of the punching motor 41 is connected to the hammer handle of the punching hammer 40.

[0032] The auxiliary stone carving equipment also includes a control system for controlling the lifting and lowering of the worktable 1, the lifting and lowering of the top plate 8, the rotation of the rotary table 11, the position adjustment and processing of the laser scanner 6 and high-definition camera, the lifting and lowering and movement of the multi-degree-of-freedom robotic arm 20, the stone clamping and adjustment, and the stone auxiliary chiseling and punching adjustment. The control system is connected to a display screen for displaying three-dimensional images of the stone and surface defects. The control system is an existing control system, and all its electrical connections use existing connection methods.

[0033] The method for assisting in manual stone carving described in this embodiment includes the following steps: Step 1: Placement of the stone and adjustment of workbench 1: Place the stone to be carved stably on the transparent base 4 of the workbench 1. Start the hydraulic cylinder 3 in the base 2 through the control system to adjust the height of the workbench 1 (to suit the height of the operator or the size of the stone). At the same time, operate the triangular support lifting assembly (rotate the threaded rod 7) to adjust the height of the lifting plate 9 so that the laser scanner 6, high-definition camera and multi-degree-of-freedom robotic arm 20 at the bottom of the rotary table 11 are at a suitable working height (30-50cm from the top of the stone, for easy initial scanning).

[0034] Step 2, Full-Dimensional 3D Scan (Modeling Stage): The control system activates three types of scanning structures. The height of the laser scanner 6 is adjusted by hydraulic cylinder 2 17, and the motor 19 drives the laser scanner 6 to rotate (0-90°). With the help of the gear transmission assembly of the rotary table 11 (rotary motor 14 drives the rotating shaft 13), a 360° rotation is achieved to collect three-dimensional images of the top and sides of the stone. The laser scanner 6 in the housing box 5 is positioned by a two-dimensional moving platform (X / Y axis translation). The laser scanner 6 in the housing box 5 penetrates the tempered glass to scan the bottom of the stone and generate three-dimensional data of the bottom. A high-definition camera captures the details of the stone surface (such as fine cracks and color spots) in real time to assist in image stitching.

[0035] Step 3, 3D modeling and defect annotation: The control system integrates the top, side and bottom scanning data of the stone and generates a complete three-dimensional model of the stone within 10-15 seconds. It automatically identifies defects such as cracks, sand lines and discoloration through algorithms and marks them in red on the display screen (marking the location, size and type of defects). The carver can manually add annotations (such as natural texture areas that need to be preserved).

[0036] The algorithm uses existing algorithms, such as: A curvature analysis algorithm is used to calculate the normal vector and curvature of each point in the point cloud (the curvature at the crack is much higher than that of the normal area), and a high-curvature point set is selected by thresholding. A region growing algorithm is then used to cluster the high-curvature points; if the clustering results show a linear distribution (length > width by more than 10 times), they are initially identified as candidate crack regions. The Canny edge detection algorithm is used to extract edge lines in the image (crack edges show drastic grayscale changes and strong edge response). The Hough Transform is then used to detect straight or curved segments in the edges, filtering out noisy edges shorter than 5mm (non-cracks) and retaining continuous long edges. If the overlap between the 3D high-curvature linear region and the 2D edge region is >80%, it is identified as a "crack," and parameters such as length and maximum depth are recorded.

[0037] Step 4, Stone positioning and clamping (positioning stage): The control system starts the multi-degree-of-freedom robotic arm 20 with stone clamping structure 21. The height of the mounting base 23 is adjusted by the hydraulic cylinder 3 24. The rotating base 39, arm 1 26 to arm 4 29 work together to move the mechanical gripper 34 to both sides of the stone. The rotating motor 1 30 drives the rotating plate 1 31 to rotate (adjusting the clamping angle). The gripper gear 2 33 drives the gripper gear 1 32 to make the mechanical gripper 34 close symmetrically (rubber pads prevent damage to the stone). The pressure sensor (built-in) provides real-time feedback on the clamping force to ensure that the stone is fixed without loosening.

[0038] Step 5, robotic arm-assisted carving: Real-time monitoring by a high-definition camera synchronizes the image to the display screen. The control system activates the multi-degree-of-freedom robotic arm 20 with a stone-assisted chiseling structure. The height of the mounting base 23 is adjusted by the hydraulic cylinder 3 24. The rotating base 39, arm 1 26 to arm 4 29 move in coordination. The rotating motor 2 35 drives the rotating plate 2 36 to rotate. The deflection motor 38 adjusts the angle of the chiseling base 43 (0-180°). The chiseling motor 41 drives the chiseling hammer 40 to perform chiseling actions (frequency and force can be adjusted by the control system). The rotating table 11 rotates in real time through the gear transmission assembly, cooperating with the robotic arm to adjust its position to achieve 360° rough carving of the stone without dead angles, assisting the carver in quickly removing excess stone.

[0039] Step Six, Real-time Monitoring: During the carving process, a high-definition camera continuously captures the carving area, and the image is simultaneously displayed on a screen. The carver zooms in to observe the carving position and makes real-time adjustments through the screen and control system until the carving is completed.

[0040] Therefore, the present invention employs the aforementioned auxiliary stone carving equipment and method, which uses auxiliary equipment to clamp the stone, and uses a high-definition camera and laser scanner 6 to monitor the stone carving. Combined with a multi-degree-of-freedom robotic arm for auxiliary fixation and carving, the invention reduces the labor intensity of the carver, improves the comfort of the carver, saves carving time, and thus improves carving efficiency.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A device for assisting in manual stone carving, characterized in that: The system includes a height-adjustable workbench with a base at its bottom. The top of the workbench is connected to a centrally open lifting plate via a triangular support lifting assembly. The lifting plate is connected to a rotary table located in the middle of the lifting plate via a gear transmission assembly. Several stone top-side image scanning and monitoring components and a multi-degree-of-freedom robotic arm are installed at the bottom edge of the rotary table. The free end of the multi-degree-of-freedom robotic arm is equipped with a stone clamping structure or a stone auxiliary chiseling structure. A transparent seat for placing the stone is installed on the workbench, and a three-dimensional scanning structure for the bottom of the stone is installed at the bottom of the transparent seat. The stone top-side image scanning and monitoring components include a laser scanner for acquiring three-dimensional images of the top and sides of the stone and a high-definition camera for monitoring stone carving.

2. The equipment for assisting in manual stone carving according to claim 1, characterized in that: The transparent base is made of tempered transparent glass. The three-dimensional scanning structure of the stone bottom includes a receiving box set inside the base. The receiving box contains a laser scanner for acquiring three-dimensional images of the stone bottom. The bottom of the laser scanner inside the receiving box is connected to the receiving box via a two-dimensional moving platform.

3. The equipment for assisting in manual stone carving according to claim 1, characterized in that: A hydraulic cylinder is installed inside the base, and the hydraulic rod of the hydraulic cylinder is connected to the bottom surface of the worktable.

4. The equipment for assisting in manual stone carving according to claim 1, characterized in that: The triangular support lifting assembly includes three threaded rods arranged in a triangle. The bottom end of the threaded rods is rotatably connected to the worktable, and the top end of the threaded rods is rotatably connected to the top plate with a central opening. The lifting plate is located below the top plate and has threaded holes. The threaded rods are inserted into the threaded holes and connected to the threaded holes via threads. The top plate is equipped with a lifting motor, and the output shaft of the lifting motor is connected to the top end of the threaded rods.

5. The equipment for assisting in manual stone carving according to claim 1, characterized in that: The gear transmission assembly includes several connecting gears. The middle opening of the lifting plate is connected to the rotating table through the connecting gears. A mounting frame is provided above the rotating table, and a rotary motor is provided on the mounting frame. A rotating shaft is fixed at the center of the rotating table. The output shaft of the rotary motor passes through the mounting frame and is connected to the rotating shaft. Both ends of the mounting frame are connected to the lifting plate. A rotating rod is fixed at the center of the connecting gear. Fixed frames are provided on the upper and lower sides of the connecting gear. One end of the fixed frame is rotatably connected to the rotating rod, and the other end of the fixed frame is connected to the lifting plate.

6. The equipment for assisting in manual stone carving according to claim 1, characterized in that: A second hydraulic cylinder is installed at the bottom of the rotary table. The hydraulic rod of the second hydraulic cylinder is connected to the mounting plate. The mounting plate is rotatably connected to a laser scanner or high-definition camera used to collect three-dimensional images of the top and sides of the stone. An adjustment motor is installed on the side of the mounting plate to drive the laser scanner or high-definition camera used to collect three-dimensional images of the top and sides of the stone to rotate. The second hydraulic cylinder with the laser scanner and the second hydraulic cylinder with the high-definition camera are staggered.

7. The equipment for assisting in manual stone carving according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm includes a mounting base, which is connected to an inverted base via a hydraulic cylinder three. The inverted base is connected to the bottom of a rotary table. A rotating base is rotatably mounted on the bottom of the mounting base. An arm one is hinged to the bottom of the rotating base. Arm one is sequentially hinged to arms two, three, and four. Arm four is connected to a stone clamping structure or a stone auxiliary chiseling structure. The multi-degree-of-freedom robotic arm with the stone clamping structure and the multi-degree-of-freedom robotic arm with the stone auxiliary chiseling structure are staggered.

8. The equipment for assisting in manual stone carving according to claim 7, characterized in that: The stone clamping structure includes a rotating motor 1 mounted on arm 4. The output shaft of the rotating motor 1 is connected to a rotating plate 1. Mechanical grippers are symmetrically arranged on the rotating plate 1. The mechanical grippers are rotatably connected to the rotating plate 1 via a gripper gear 1. A gripper gear 2 is rotatably mounted on the rotating plate. The gripper gear 2 is located in the middle of the gripper gear 1 and is meshed with the gripper gear 1. A rubber pad is attached to the side of the mechanical gripper used to clamp the stone. The stone auxiliary chiseling structure includes a rotating motor 2 mounted on arm 4. The output shaft of the rotating motor 2 is connected to a rotating plate 2. A deflection seat is mounted on the rotating plate 2. A chisel punch seat is rotatably mounted on the deflection seat. A deflection motor for driving the chisel punch seat to rotate is mounted on the deflection seat. A chisel punch hammer is rotatably mounted on the chisel punch seat. A chisel punch motor for driving the chisel punch hammer to perform chiseling action is mounted on the chisel punch seat. The output shaft of the chisel punch motor is connected to the hammer handle of the chisel punch hammer.

9. The equipment for assisting in manual stone carving according to claim 1, characterized in that: It also includes a control system for controlling the lifting of the worktable, the lifting of the top plate, the rotation of the rotary table, the position adjustment of the laser scanner and high-definition camera and the processing of stone image data, the lifting and movement of the multi-degree-of-freedom robotic arm, the stone clamping adjustment, and the stone auxiliary chiseling adjustment. The control system is connected to a display screen for displaying three-dimensional images of the stone and defects on the stone surface.

10. A method for assisting in manual stone carving, employing the equipment for assisting in manual stone carving as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Stone placement and workbench adjustment: Place the stone to be carved stably on the transparent base of the workbench. Start the hydraulic cylinder in the base through the control system to adjust the height of the workbench. At the same time, operate the triangular support lifting component to adjust the height of the lifting plate so that the laser scanner, high-definition camera and multi-degree-of-freedom robotic arm at the bottom of the rotary table are at a suitable working height. Step 2, Full-Dimensional 3D Scan: The control system activates three types of scanning structures. The height of the laser scanner is adjusted by hydraulic cylinder 2, and the motor drives the laser scanner to rotate. The rotation is achieved in conjunction with the gear transmission assembly of the rotary table, which collects three-dimensional images of the top and sides of the stone. The laser scanner in the housing is positioned by a two-dimensional moving platform. The laser scanner in the housing penetrates the tempered glass to scan the bottom of the stone and generate three-dimensional data of the bottom. A high-definition camera captures the details of the stone surface in real time to assist in image stitching. Step 3, 3D modeling and defect annotation: The control system integrates the top, side, and bottom scanning data of the stone to generate a complete three-dimensional model of the stone, identify cracks, sand lines, and color defects, and mark them on the display screen; Step 4: Positioning and clamping the stone: The control system starts the multi-degree-of-freedom robotic arm with stone clamping structure. The height of the mounting base is adjusted by the hydraulic cylinder three. The rotating base and arms one to four work together to move the mechanical grippers to both sides of the stone. The rotating motor one drives the rotating plate one to rotate. The gripper gear two drives the gripper gear one to make the mechanical grippers close symmetrically and clamp the stone in the fixed position. Step 5, robotic arm-assisted carving: Real-time monitoring by a high-definition camera synchronizes the image to the display screen. The control system activates a multi-degree-of-freedom robotic arm with a stone-assisted chiseling and punching structure. The height of the mounting base is adjusted by hydraulic cylinder three, and the rotating base and arms one to four move in coordination. Rotating motor two drives rotating plate two to rotate, and deflection motor adjusts the angle of the chiseling and punching base. The chiseling and punching motor drives the chiseling and punching hammer to perform chiseling and punching actions. The rotary table rotates in real time through a gear transmission assembly to coordinate with the robotic arm to adjust its position. Step Six, Real-time Monitoring: During the carving process, a high-definition camera continuously captures the carving area, and the image is simultaneously displayed on a screen. The carver zooms in to observe the carving position and makes real-time adjustments through the screen and control system until the carving is completed.

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