Robotic automated cutting system, cutting control method, and storage medium

Abstract

The present application relates to the technical field of automatic cutting, and in particular to a robot automatic cutting system, a cutting control method and a storage medium, the robot automatic cutting system comprising a feeding platform, a visual sensor, a robot, a cutting tool assembly and a control system; the cutting tool assembly can drive a cutter to feed linearly to cut the workpiece, the robot moves the workpiece close to the cutter and keeps stationary during the linear feeding of the cutter; the control system can determine the position of the workpiece on the workpiece gripper and the deformation of the current workpiece relative to the standard workpiece again through the visual sensor after the workpiece is gripped, a program can autonomously plan a path according to the position and the deformation, and the program can automatically adjust to compensate for the deformation, thereby greatly improving the cutting precision, and avoiding the problems of poor cutting quality and low precision caused by large workpiece deformation.

Description

Technical Field

[0001] This invention relates to the field of automated cutting technology, specifically to a robotic automated cutting system, a cutting control method, and a storage medium. Background Technology

[0002] In the traditional die-casting and casting process, runners and risers are inevitably produced. Subsequent part machining involves a cutting process. Traditionally, part cutting is mainly done manually, but manual cutting suffers from low efficiency, poor quality, harsh working conditions, and even the safety hazard of cutting wheel fragments exploding and causing injury.

[0003] With the development of CNC technology, specialized equipment such as cutting machine tools and non-standard customized cutting machines have been widely used. Although the existing technology has greatly improved upon the original process, the poor consistency of castings themselves results in less than ideal cutting effects from specialized machines, with overcutting or undercutting being common phenomena. Furthermore, the tooling and fixture design requirements are high, and their versatility is poor. Each time a different workpiece model is used, a new tooling and fixture is required, leading to a significant increase in processing costs.

[0004] If an industrial robot is used to grab a workpiece at the end of its arm and bring it close to the cutting equipment for cutting, the robot, which is generally a six-degree-of-freedom mechanical structure, has the disadvantages of long arm span, poor rigidity, and inability to follow an absolutely straight trajectory. This can lead to situations where the robot shakes or the trajectory planning causes the tool to jam or become stuck during cutting, thus affecting the cutting quality of the workpiece and creating a safety hazard of grinding wheel breakage.

[0005] Furthermore, the method of using an industrial robot to grasp the workpiece after positioning generally ensures the accuracy of subsequent cutting by ensuring that the workpiece is grasped in approximately the same position each time. However, due to the inherent deformation of the workpiece, there is an inherent error in locating the workpiece using sensors, and the industrial robot itself also has its own accuracy limitations. This can lead to significant deviations in the grasping position, resulting in a substantial reduction in the final cutting accuracy. Summary of the Invention

[0006] (a) Technical problems to be solved

[0007] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a robotic automated cutting system with mixed-line compatibility and less prone to tool jamming or stagnation. In addition, the present invention also provides a cutting control method to solve the problem of low machining accuracy in robotic automated cutting.

[0008] (II) Technical Solution

[0009] To achieve the above objectives, the present invention provides a robotic automated cutting system, comprising:

[0010] Material loading platform;

[0011] A vision sensor, used to scan image information of the workpiece located on the loading platform;

[0012] A robot, wherein the end effector of the robot is equipped with a workpiece gripper, the workpiece gripper being capable of gripping the workpiece;

[0013] A cutting tool assembly capable of driving a cutting tool to feed linearly to cut the workpiece; the robot grasps the workpiece and moves it close to the cutting tool, while the robot remains stationary during the linear feed of the cutting tool;

[0014] The control system is electrically connected to the feeding platform, the vision sensor, the robot, and the cutting tool assembly.

[0015] Optionally, the feeding platform includes a frame, a pushing mechanism, and a first platform and a second platform slidably disposed on the frame. The pushing mechanism can push the first platform and the second platform to slide in opposite directions, and the sliding paths of the first platform and the second platform are parallel to each other.

[0016] The robotic automated cutting system also includes a protective enclosure, and the vision sensor, the robot, and the cutting tool assembly are all located inside the protective enclosure; both the first platform and the second platform are capable of sliding from the outside to the inside and from the inside to the outside based on the protective enclosure.

[0017] Optionally, the frame is provided with a first slide rail assembly adapted to the first platform, and the first platform is provided with a first rack;

[0018] The frame is also provided with a second slide rail assembly adapted to the second platform. The first slide rail assembly and the second slide rail assembly are parallel to each other. The second platform is provided with a second rack.

[0019] The pushing mechanism includes a pushing motor and a gear that is hygienically connected to the output shaft of the pushing motor. The gear is located between the first rack and the second rack that are arranged opposite to each other and meshes with the first rack and the second rack respectively.

[0020] Optionally, the robotic automated cutting system further includes a tool magazine containing multiple cutting tools; the end effector of the robot is also equipped with a tool gripper, which can grab the cutting tool from the tool magazine and install it onto the cutting tool assembly.

[0021] And / or, the robotic automated cutting system further includes a feeding platform located below the cutting tool.

[0022] The present invention also provides a cutting control method based on any one of the above-described robotic automated cutting systems, the cutting control method comprising the following steps:

[0023] S1, based on the image information of the workpiece located on the loading platform obtained by the vision sensor, extract the first information of the workpiece, the first information including the position, posture and first shape recognition information of the workpiece;

[0024] S2, based on the first information and the robot's coordinate system, determine the gripping position information of the workpiece and the gripping path of the robot's workpiece gripper. The gripping position information includes the expected gripping position of the workpiece and the expected gripping posture between the workpiece and the workpiece gripper after gripping.

[0025] S3, the image information of the workpiece after being grasped is acquired again through the vision sensor, and the second information of the workpiece is extracted. The second information includes the actual position of the workpiece being grasped, the actual grasping posture between the workpiece and the workpiece gripper after being grasped, and the second shape recognition information of the workpiece.

[0026] S4. Based on the second information, the first shape recognition information in the first information, and the standard information corresponding to the workpiece, obtain the actual cutting path of the workpiece;

[0027] S5, cut according to the actual cutting path.

[0028] Optionally, step S4 includes obtaining the actual shape information of the workpiece based on the second shape recognition information and the first shape recognition information; determining the actual deformation amount of the workpiece based on the actual shape information and the standard information corresponding to the workpiece; performing dimensional error compensation based on the actual deformation amount and the standard cutting information corresponding to the workpiece; and calculating the actual cutting path of the workpiece.

[0029] Optionally, the workpiece is cut by keeping both the robot and the workpiece stationary, and the cutting tool performs linear feed to complete the cut; wherein, the actual cutting path in step S4 includes the coordinates of the workpiece's position relative to the cutting tool and the placement angle, and the feed direction and length of the cutting tool.

[0030] Optionally, the actual cutting path in step S4 includes cutting paths for multiple cutting positions on the workpiece. Each cutting path includes the coordinates and angle of the workpiece relative to the placement of the tool at each cutting position, as well as the feed direction and length of the tool.

[0031] Optionally, the image information of the workpiece after being grasped in step S3 includes image information of the workpiece from at least two shooting angles after it has been grasped.

[0032] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the cutting control method described in any of the above claims.

[0033] (III) Beneficial Effects

[0034] The robotic automated cutting system of this invention is suitable for a method where the robot grips the workpiece and remains stationary while the cutting tool moves linearly for feeding. By scanning the workpiece image information with a vision sensor, the robot then grips the workpiece, eliminating the need for tooling fixtures and significantly reducing changeover costs. It also offers compatibility with different production lines. Furthermore, during the cutting operation, the robot grips the workpiece and remains stationary near the cutting tool, allowing the cutting tool assembly to drive the cutting tool to feed linearly and cut the workpiece. This avoids problems such as tool jamming and sticking caused by insufficient robot rigidity, vibration, and trajectory issues.

[0035] In addition, the robotic automated cutting system can also use vision sensors to determine the position of the workpiece on the workpiece gripper and the amount of deformation of the current workpiece relative to the standard workpiece. The program can autonomously plan the path based on the position and the amount of deformation, and automatically adjust the program to compensate for the amount of deformation, which greatly improves the accuracy of cutting and avoids the problem of poor cutting quality and low accuracy caused by large workpiece deformation.

[0036] In summary, the aforementioned automated robotic cutting system not only compensates for the lack of rigidity in robots, but also has the advantages of being able to cut along a straight trajectory and avoiding blade jamming and sticking. It can balance cutting accuracy and efficiency, and has great market potential. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the robotic automated cutting system of the present invention;

[0038] Figure 2 for Figure 1 An enlarged structural diagram of the loading platform in the middle;

[0039] Figure 3 for Figure 1 Enlarged top view of the cutting tool assembly;

[0040] Figure 4 for Figure 3 Front view diagram;

[0041] Figure 5 This is a flowchart of the cutting control method of the present invention;

[0042] Figure 6 This is a schematic diagram of the module structure of the control system of the robotic automated cutting system of the present invention.

[0043] [Explanation of Labels in the Attached Image]

[0044] 1: Feeding platform; 110: Frame; 120: Pushing mechanism; 121: Gear; 130: First platform; 131: First slide rail assembly; 132: First rack; 133: Support; 140: Second platform; 141: Second slide rail assembly; 142: Second rack;

[0045] 2: Visual sensor;

[0046] 3: Robot; 301: Workpiece gripper;

[0047] 4: Control system; 41: Memory; 42: Controller;

[0048] 5: Tool magazine;

[0049] 6: Cutting tool assembly; 610: Slide assembly; 611: Moving panel; 612: Drive mechanism; 6121: Lead screw; 613: Sliding support mechanism; 6131: Fixed block; 6132: Slide rod; 6133: Slider; 620: Floating assembly; 621: Pneumatic mechanism; 622: Guide support mechanism; 6221: Mounting block; 6222: Guide rod; 6223: Support block; 623: Worktable; 630: Cutting device; 631: Spindle motor; 632: Cutting tool; 640: Base;

[0050] 7: Protective fencing;

[0051] 8: Material feeding platform. Detailed Implementation

[0052] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0054] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; "connection" can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] See Figure 1 This invention provides an automated robotic cutting system, including a loading platform 1, a vision sensor 2, a robot 3, a cutting tool assembly 6, and a control system 4. The vision sensor 2 is used to scan the image information of the workpiece located on the loading platform 1; the end effector of the robot 3 is equipped with a workpiece gripper 301, which can grip the workpiece; the cutting tool assembly 6 can drive the cutting tool 632 to feed linearly to cut the workpiece; the robot 3 grips the workpiece and moves it close to the cutting tool 632, and the robot 3 remains stationary during the linear feed of the cutting tool 632.

[0057] The robotic automated cutting system of this invention is suitable for a method where the robot 3 grips the workpiece and remains stationary while the cutting tool 632 moves linearly for feeding. By scanning the workpiece image information through the vision sensor 2, and then having the robot 3 grip the workpiece, no tooling fixtures are required, significantly reducing changeover costs and providing compatibility with different production lines. Furthermore, during the cutting operation, after the robot 3 grips the workpiece and approaches the cutting tool 632, it remains stationary, allowing the cutting tool assembly 6 to drive the cutting tool 632 to feed linearly and cut the workpiece. This avoids problems such as tool jamming and sticking caused by insufficient rigidity, vibration, and trajectory issues of the robot 3.

[0058] Please combine them together Figure 6The control system 4 is electrically connected to the loading platform 1, vision sensor 2, robot 3, and cutting tool assembly 6, respectively, either via wired connection or wireless signal connection. The control system 4 includes a memory 41, a controller 42, and a computer program stored in the memory 41 and executable on the controller 42. When the controller 42 executes the computer program, it implements the steps of the cutting control method, the specific of which will be described later. The aforementioned automated robotic cutting system can also, after the workpiece is grasped, use the vision sensor 2 to re-determine the position of the workpiece on the workpiece gripper 301 and the deformation of the current workpiece relative to the standard workpiece. The program can autonomously plan the path based on the position and deformation, automatically adjusting the program to compensate for the deformation, greatly improving the cutting accuracy and avoiding the problem of poor cutting quality and low precision due to large workpiece deformation.

[0059] Further, see Figure 2 In a preferred embodiment, the loading platform 1 includes a frame 110, a pushing mechanism 120, and a first platform 130 and a second platform 140 slidably disposed on the frame 110. The pushing mechanism 120 can push the first platform 130 and the second platform 140 to slide in opposite directions, and the sliding paths of the first platform 130 and the second platform 140 are parallel to each other. The robotic automated cutting system also includes a protective enclosure 7, and the vision sensor 2, the robot 3, and the cutting tool assembly 6 are all located inside the protective enclosure 7. The first platform 130 and the second platform 140 can both slide from the outside to the inside and from the inside to the outside based on the protective enclosure 7. Since the first platform 130 and the second platform 140 slide in opposite directions, when the first platform 130 slides outside the protective enclosure 7, the second platform 140 will be located inside the protective enclosure 7, and when the first platform 130 slides inside the protective enclosure 7, the second platform 140 will be located outside the protective enclosure 7. For example, while the first platform 130 is loading materials on the outside of the protective enclosure 7, the robot 3 can grab the workpiece on the second platform 140 inside the protective enclosure 7 and cut it, so that the loading does not delay the production cycle and improves the processing efficiency.

[0060] See you again Figure 2To ensure that the sliding paths of the first platform 130 and the second platform 140 do not deviate, the frame 110 is also provided with a first slide rail group 131 adapted to the first platform 130, and the first platform 130 is provided with a first rack 132; the frame 110 is also provided with a second slide rail group 141 adapted to the second platform 140, the first slide rail group 131 and the second slide rail group 141 are parallel to each other, and the second platform 140 is provided with a second rack 142. The pushing mechanism 120 includes a push motor and a gear 121 that is kinetically connected to the output shaft of the push motor. The gear 121 is located between the opposing first rack 132 and second rack 142 and meshes with both racks. When the push motor drives the gear 121 to rotate, the gear 121 can drive the first rack 132 and the second rack 142 to move in opposite directions, thereby causing the first platform 130 and the second platform 140 to slide in opposite directions. Using a single gear to drive two opposing racks simplifies the control of their relative reverse sliding and saves installation space. Alternatively, in other embodiments, the relative reverse sliding of the first platform 130 and the second platform 140 can also be achieved using corresponding pneumatic or hydraulic cylinders.

[0061] To make the loading platform 1 more compact, the second slide rail assembly 141 can be positioned in the middle of the first slide rail assembly 131, and the first platform 130 can be supported above the second platform 140 by a bracket 133. The bottom of the bracket 133 is slidably connected to the first slide rail assembly 131, and the first rack 132 is positioned near the bottom of the bracket 133. In other embodiments, the first platform 130 and the second platform 140 can also be located on the same horizontal plane.

[0062] Furthermore, the robotic automated cutting system also includes a tool magazine 5 and a feeding platform 8, such as... Figure 1 As shown, the unloading platform 8 is located below the cutting tool 632, facilitating the robot 3 to place the workpiece onto the unloading platform 8 after cutting. The unloading platform 8 includes a conveyor belt for transporting the workpiece to the outside of the protective enclosure 7 and a finished product frame set outside the protective enclosure 7. The cut workpiece is placed on the conveyor belt by the robot, and the cut risers, burrs, etc., fall onto the conveyor belt and are output, with the output workpiece flowing into the finished product frame. The loading platform 1 and unloading platform 8 can be connected to the station's internal and external systems, and automatic safety doors or safety barriers are installed at corresponding positions. Additionally, a dust removal interface can be reserved on the protective enclosure 7.

[0063] See you again Figure 1The tool magazine 5 is located within the protective enclosure 7 and can hold multiple cutting tools 632. The end effector of the robot 3 is also equipped with a tool gripper, which can grab the cutting tools 632 from the tool magazine 5 and install them onto the cutting tool assembly 6. After cutting a certain number of workpieces, the tool gripper of the robot 3 can change the cutting tool assembly 6. The tool gripper can be a pneumatic gripper, while the workpiece gripper 301 can be a hydraulic gripper to ensure the stability of workpiece gripping during the cutting process. The specific structure and working principle of the pneumatic and hydraulic grippers can refer to existing technologies. The robot 3 adopts a dual-gripper structure, possessing the ability to grip workpieces and change cutting tools 632, reducing manual tool changing time and significantly improving cutting efficiency.

[0064] See Figure 3 and Figure 4 In a preferred embodiment, the cutting tool assembly 6 includes a base 640, a slide assembly 610, a floating assembly 620, and a cutting device 630. The slide assembly 610 includes a sliding support mechanism 613, a movable panel 611, and a drive mechanism 612 mounted on the base 640. The movable panel 611 is supported by the sliding support mechanism 613 and can be driven by the drive mechanism 612 to move linearly relative to the base 640. The floating assembly 620 includes a guide support mechanism 622, a worktable 623, and a pneumatic mechanism 621 mounted on the movable panel 611. The worktable 623 is supported by the guide support mechanism 622 and can move relative to the movable panel 611. The pneumatic mechanism 621 abuts against the worktable 623. The cutting device 630 includes a spindle motor 631 mounted on the worktable 623 and a cutting tool 632 mounted on the output shaft of the spindle motor 631. The cutting tool 632 can be a grinding wheel or other disc-shaped cutting tool suitable for cutting. The moving direction of the movable panel 611 and the moving direction of the worktable 623 are parallel to each other and both are perpendicular to the axis of the spindle motor 631. Furthermore, the extension direction of the pneumatic mechanism 621 is the same as the direction of the tool 632 towards the workpiece, so as to facilitate the feeding operation of the tool 632.

[0065] The cutting tool assembly 6 is suitable for a method where the robot 3 grips the workpiece and keeps it stationary while the cutting tool 632 moves and feeds. When the cutting tool 632 is feeding, the base 640 is connected to the ground and remains fixed. The drive mechanism 612 and the sliding support mechanism 613 cooperate to drive the moving panel 611 to perform feed motion, thereby driving the cutting tool 632 on the spindle motor 631 to feed linearly and complete the cutting. This avoids problems such as tool jamming and tool sticking caused by insufficient robot rigidity, vibration, and trajectory issues.

[0066] Furthermore, a floating component 620 is added between the slide assembly 610 and the spindle motor 631 to ensure flexible cutting, and the magnitude of the floating force generated by the pneumatic mechanism 621 is adjustable. In a preferred embodiment, the pneumatic mechanism 621 can specifically be a cylinder or an air bladder, etc. When the pneumatic mechanism 621 is a cylinder, the free end of the cylinder is connected to the worktable surface 623 and kept in a tensioned state; the force of the cylinder is adjusted by an electro-proportional valve. The pneumatic mechanism 621 always remains in an extended state, and the magnitude of the force exerted by the cylinder during extension can also be adjusted in real time by the electro-proportional valve. When the cutting force between the tool 632 and the workpiece is greater than the extension force, the pneumatic mechanism 621 is compressed and retracted, along with the worktable surface 623. At this time, the compressive force between the tool 632 and the workpiece is reduced, or even the tool 632 is disengaged from the workpiece, thereby preventing tool breakage. The above-mentioned cutting tool assembly 6 not only compensates for the lack of rigidity of the robot 3, but also has the advantages of being able to follow a straight trajectory and perform constant force cutting, which can balance cutting accuracy and cutting efficiency, and has good market promotion value.

[0067] In a more preferred embodiment, the floating assembly 620 may further include a displacement sensor for detecting the extension and retraction displacement of the cylinder. The position sensor monitors the floating assembly 620 and feeds back to the controller to adjust the cutting feed speed and the spindle motor 631 speed, preventing excessive cutting force from causing breakage or damage to the spindle motor 631. The displacement sensor receives the retraction signal from the pneumatic mechanism 621 and feeds it back to the controller to adjust the feed speed of the drive mechanism 612 and the spindle motor 631, allowing the assembly to advance again and complete the cutting.

[0068] See you again Figure 4 In one embodiment, the guide support mechanism 622 may include multiple mounting blocks 6221, multiple guide rods 6222, and multiple support blocks 6223. The multiple guide rods 6222 are parallel to each other, and both ends of the guide rods 6222 are fixed to the movable panel 611 by the mounting blocks 6221. The support blocks 6223 are sleeved on the guide rods 6222 and can move along the guide rods 6222. The multiple support blocks 6223 are fixedly disposed on the bottom surface of the worktable 623. The pneumatic mechanism 621 can push the worktable 623 under the extension force. Since the support blocks 6223 are sleeved on the guide rods 6222, the worktable 623 can only move linearly within the range defined by the guide rods 6222. The extension force of the pneumatic mechanism 621 is opposite in direction to the reaction force generated by the workpiece during cutting and maintains floating balance, playing a floating support role, thereby enabling flexible cutting. In another embodiment, the guide support mechanism 622 may also be presented in other ways (not shown). For example, the guide support mechanism 622 may include multiple guide rails fixed on the movable panel 611, the multiple guide rails being parallel to each other; the bottom surface of the worktable 623 is provided with a groove adapted to the guide rails.

[0069] Furthermore, see again Figure 4 The sliding support mechanism 613 may include multiple fixed blocks 6131, multiple sliding rods 6132, and multiple sliders 6133. The multiple sliding rods 6132 are parallel to each other, and both ends of the sliding rods 6132 are mounted on the base 640 through the fixed blocks 6131. ​​The sliders 6133 are sleeved on the sliding rods 6132 and can move along the sliding rods 6132. The multiple sliders 6133 are all fixedly disposed on the bottom surface of the movable panel 611. Moreover, the drive mechanism 612 may include a feed motor, a lead screw 6121 that is drivenly connected to the output shaft of the feed motor, and a connecting block sleeved on the lead screw 6121 and capable of sliding on the lead screw 6121. The transmission connection between the output shaft of the feed motor and the lead screw 6121 can be directly connected via a coupling, or a speed reducer can be installed between the feed motor and the lead screw 6121 to reduce speed according to the feed speed requirements. The lead screw 6121 is rotatably mounted on the base 640 via a pair of bearings, and the connecting block is fixedly connected to the movable panel 611. When the feed motor rotates, the output shaft of the feed motor drives the lead screw 6121 to rotate, and the connecting block threaded to the lead screw 6121 drives the movable panel 611 to move linearly along the slide bar 6132. In other embodiments, the drive mechanism 612 and the sliding support mechanism 613 can be presented in other forms, as long as they can drive the movable panel 611 to achieve linear reciprocating movement.

[0070] Please combine them together Figure 5 The cutting control method provided in this embodiment includes the following steps.

[0071] S1. Based on the image information of the workpiece located on the loading platform 1 obtained by the vision sensor 2, the first information of the workpiece is extracted. The first information includes the position, posture and first shape recognition information of the workpiece.

[0072] S2, based on the first information and the coordinate system of robot 3, determine the gripping position information of the workpiece and the gripping path of the workpiece gripper 301 of robot 3. The gripping position information includes the expected gripping position of the workpiece and the expected gripping posture between the workpiece and the workpiece gripper 301 after gripping.

[0073] Specifically, the workpiece is generally transported to the processing area for processing via a conveyor belt or other loading platform 1. In step S1, the image information of the workpiece located on the loading platform 1 acquired by the vision sensor 2 can be information captured from multiple angles or image information captured from an angle perpendicular to the loading platform 1.

[0074] The image information obtained in step S1 is mainly used to identify the model, position and posture of the workpiece. Specifically, the model of the part can be identified by recognizing the shape of the workpiece in the image, the QR code affixed to the workpiece, the markings, etc., so as to retrieve the data of the standard workpiece of the same model in the database later.

[0075] Based on the workpiece's model, position, and orientation, the gripping position of the workpiece can be determined in step S2. Specifically, when the workpiece is a casting, the gripping position can be the pouring cup on the casting.

[0076] The technical means in steps S1 and S2 can be fully implemented by those skilled in the art based on existing technology, and will not be elaborated here.

[0077] S3, the image information of the workpiece after being grasped is acquired again through the vision sensor 2, and the second information of the workpiece is extracted. The second information includes the actual position of the workpiece being grasped, the actual grasping posture between the grasped workpiece and the workpiece gripper 301, and the second shape recognition information of the workpiece.

[0078] S4. Based on the second information, the first shape recognition information in the first information, and the standard information corresponding to the workpiece, obtain the actual cutting path of the workpiece.

[0079] In steps S3 and S4, after the workpiece is grasped, visual recognition is performed again. Based on the actual grasping position of the workpiece, the actual grasping posture between the grasped workpiece and the workpiece gripper 301, and the second shape recognition information obtained by recognizing the shape of the workpiece again, the actual cutting path is finally determined. This can eliminate the accuracy deviation caused by the error of the robot 3's grasping position. However, determining the entry path based on the second shape recognition information of the workpiece, the first shape recognition information in the first information, and the standard information corresponding to the workpiece can reduce the error in visual recognition and further increase the cutting accuracy.

[0080] In addition, since the image information of the workpiece on the loading platform 1 obtained in steps S1 and S2 is only used to extract the first information of the workpiece, mainly for identifying the model of the workpiece and positioning the gripping position information, the specific deformation amount and cutting position information can be realized in steps S3 and S4. Therefore, the accuracy, angle and recognition accuracy of the image information in steps S1 and S2 can be lower than those in steps S3 and S4, so as to reduce the computational burden.

[0081] Further, step S4 includes obtaining the actual shape information of the workpiece based on the second shape recognition information and the first shape recognition information; determining the actual deformation amount of the workpiece based on the actual shape information and the standard information corresponding to the workpiece; performing dimensional error compensation based on the actual deformation amount and the standard cutting information corresponding to the workpiece, and calculating the actual cutting path of the workpiece.

[0082] Furthermore, it also includes step S5, which involves cutting according to the actual cutting path.

[0083] Furthermore, the workpiece is cut by keeping both the robot 3 and the workpiece stationary, and the cutting tool 632 performs linear feed to complete the cut; wherein, the actual cutting path in step S4 includes the workpiece's position coordinates and placement angle relative to the cutting tool 632, and the feed direction and length of the cutting tool 632.

[0084] Furthermore, the actual cutting path in step S4 includes cutting paths for multiple cutting positions on the workpiece. Each cutting path includes the coordinates and angle of the workpiece relative to the placement of each cutting position relative to the tool 632, as well as the feed direction and length of the tool 632.

[0085] Specifically, the actual cutting path has been compensated for errors based on the actual deformation of the workpiece. During the cutting operation, the robot 3 grabs the workpiece and keeps it fixed after it approaches the tool 632. The cutting tool assembly 6 can drive the tool 632 to feed linearly to cut the workpiece, reducing defects such as shaking caused by the excessive length of the robot 3's arm. Precise cutting is achieved through the linear feed tool 632 with high precision control.

[0086] Furthermore, the image information of the grasped workpiece in step S3 includes image information of the grasped workpiece from at least two shooting angles.

[0087] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor or controller, implements the steps of the above-described cutting control method.

[0088] The robotic automated cutting system and cutting control method provided by this invention can, after the workpiece is grasped, re-determine the position of the workpiece on the workpiece gripper 301 and the deformation amount of the current workpiece relative to the standard workpiece through the vision sensor 2. The program can autonomously plan the path according to the position and deformation amount, and automatically adjust the program to compensate for the deformation amount, which greatly improves the cutting accuracy and avoids the problem of poor cutting quality and low accuracy caused by large workpiece deformation.

[0089] That is, in a specific embodiment of the present invention, when a computer program on a computer-readable storage medium is executed by a processor, it implements the steps of the above-described cutting control method, and can also achieve the corresponding technical effects.

[0090] For example, a computer program on a computer-readable storage medium includes computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0091] It should be understood that the above description of specific embodiments of the present invention is only for illustrating the technical approach and features of the present invention, and is intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. However, the present invention is not limited to the specific embodiments described above. All changes or modifications made within the scope of the claims of the present invention should be covered within the protection scope of the present invention.

Claims

1. A robotic automated cutting system, characterized in that, include: Material loading platform (1); A vision sensor (2) is used to scan the image information of the workpiece located on the loading platform (1); The robot (3) is equipped with a workpiece gripper (301) at its execution end, which is capable of gripping the workpiece. The cutting tool assembly (6) is capable of driving the cutting tool (632) to feed linearly to cut the workpiece; the robot (3) grabs the workpiece and moves it close to the cutting tool (632) and remains stationary during the linear feed of the cutting tool (632); The control system (4) is electrically connected to the feeding platform (1), the vision sensor (2), the robot (3) and the cutting tool assembly (6), respectively. The robotic automated cutting system employs the following cutting control method: S1, based on the image information of the workpiece located on the loading platform (1) obtained by the vision sensor (2), the first information of the workpiece is extracted, including the position, posture, and first shape recognition information of the workpiece; S2, based on the first information and the coordinate system of the robot (3), the gripping position information of the workpiece and the gripping path of the workpiece gripper (301) of the robot (3) are determined, including the expected gripping position of the workpiece and the expected gripping posture between the workpiece and the workpiece gripper (301) after gripping; S3, the image information of the workpiece after gripping is obtained again by the vision sensor (2), and the second information of the workpiece is extracted. The second information includes the actual position where the workpiece is gripped, the actual gripping posture between the workpiece and the workpiece gripper after gripping, and the second shape recognition information of the workpiece; S4, based on the second information, the first shape recognition information in the first information, and the standard information corresponding to the workpiece, the actual cutting path of the workpiece is obtained. Step S4 includes obtaining the actual shape information of the workpiece based on the second shape recognition information and the first shape recognition information; determining the actual deformation amount of the workpiece based on the actual shape information and the standard information corresponding to the workpiece; performing dimensional error compensation based on the actual deformation amount and the standard cutting information corresponding to the workpiece, and calculating the actual cutting path of the workpiece; S5, cutting is performed according to the actual cutting path.

2. The robotic automated cutting system according to claim 1, characterized in that, The loading platform (1) includes a frame (110), a pushing mechanism (120), and a first platform (130) and a second platform (140) slidably disposed on the frame (110). The pushing mechanism (120) can push the first platform (130) and the second platform (140) to slide in opposite directions, and the sliding paths of the first platform (130) and the second platform (140) are parallel to each other. The robotic automated cutting system also includes a protective enclosure (7), and the vision sensor (2), the robot (3) and the cutting tool assembly (6) are all located inside the protective enclosure (7); the first platform (130) and the second platform (140) can slide from the outside to the inside and from the inside to the outside based on the protective enclosure (7).

3. The robotic automated cutting system according to claim 2, characterized in that, The frame (110) is provided with a first slide rail assembly (131) adapted to the first platform (130), and the first platform (130) is provided with a first rack (132). The frame (110) is also provided with a second slide rail group (141) adapted to the second platform (140). The first slide rail group (131) and the second slide rail group (141) are parallel to each other. The second platform (140) is provided with a second rack (142). The pushing mechanism (120) includes a pushing motor and a gear (121) that is drivenly connected to the output shaft of the pushing motor. The gear (121) is located between the first rack (132) and the second rack (142) that are arranged opposite to each other and meshes with the first rack (132) and the second rack (142) respectively.

4. The robotic automated cutting system according to any one of claims 1-3, characterized in that, The robotic automated cutting system also includes a tool magazine (5), which contains a plurality of the aforementioned tools (632); the end effector of the robot (3) is also provided with a tool (632) gripper, which can grab the tool (632) from the tool magazine (5) and install it on the cutting tool assembly (6); And / or, the robotic automated cutting system further includes a feeding platform (8) located below the cutting tool (632).

5. The robotic automated cutting system according to claim 1, characterized in that, The workpiece is cut in a way that both the robot (3) and the workpiece remain fixed, and the cutting tool (632) performs a linear feed to complete the cut; wherein, the actual cutting path in step S4 includes the coordinates of the workpiece relative to the cutting tool (632) and the placement angle, and the feed direction and length of the cutting tool (632).

6. The robotic automated cutting system according to claim 5, characterized in that, The actual cutting path in step S4 includes the cutting path of multiple cutting positions on the workpiece. Each cutting path includes the placement coordinates and placement angle of each cutting position of the workpiece relative to the tool (632), and the feed direction and length of the tool (632).

7. The robotic automated cutting system according to claim 1, characterized in that, The image information of the workpiece after being grasped in step S3 includes image information of the workpiece from at least two shooting angles after being grasped.

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