An overcutting device and an overcutting method

Abstract

The application discloses a cutting method and a cutting device, and the method comprises the following steps: mapping and calibrating the position of a positioning plate and the position on a numerical control cutting machine by using a reference plate with marked points cut through; establishing a coordinate system xoy by using the reference plate; placing a printed material with the back side upward on the positioning plate, so that two right-angle edges of the printed material are coincident with the x-axis and the y-axis of the coordinate system xoy; reading the position deviation of the marked points relative to the cut-through holes and the angle deviation of the connecting line of the two marked points relative to the connecting line of the two cut-through holes by using a camera; synchronously grabbing and placing the printed material on the numerical control cutting machine; and correcting and outputting a cutting pattern according to the position deviation and the angle deviation by the numerical control cutting machine. The method establishes a reference coordinate system by using the reference plate, determines the position deviation and the angle deviation of the marked points by using the camera, synchronously transmits the deviation information to the control software of the numerical control cutting machine, corrects and outputs the cutting pattern, realizes high-precision cutting and high-efficiency cutting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of material cutting, in particular to a sleeve cutting method. In addition, the present application also provides a sleeve cutting device for realizing the sleeve cutting method. BACKGROUND

[0002] In the processing of sheet materials for advertising and packaging, due to the special characteristics of the cutting tool of the flexible cutting machine, when cutting thicker materials, in order to avoid overcutting of the face paper with printed matter, and to achieve more regular folding of thicker corrugated materials, processes such as back pressure marking and slotting are performed to ensure better product form.

[0003] At present, when the back surface is sleeve cut, the main method is to first cut the marking point on the front surface, then turn over the material, and use the already cut-through marking point as the secondary positioning to solve the problem. The Chinese invention patent with application number 202211430558.4 discloses a method for sleeve cutting on the back surface, and provides a truss type feeding device to solve automatic feeding and sleeve cutting on the back surface, which is one of the methods to solve the problem of increasing material feeding and realizing sleeve cutting on the back surface, and good results have been achieved. However, the problem is that when sleeve cutting on the back surface of high-precision fine images, the precision is not high enough, and there are certain requirements for incoming materials. When the incoming materials are not accurate, manual point-finding method is needed to find the position of the marking point, resulting in low cutting efficiency.

[0004] Therefore, in view of the above technical problems, how to improve the sleeve cutting precision and efficiency is a technical problem that needs to be solved by those skilled in the art. SUMMARY

[0005] The purpose of the present application is to provide a sleeve cutting method, which takes the reference plate as the reference coordinate system, determines the position deviation and angle deviation of the marking point of the printed material through a high-precision camera, and synchronizes the deviation information to the control software of the numerical control cutting machine, so as to correct the material arrangement diagram and output the cutting pattern, thereby realizing high-precision sleeve cutting and high-efficiency sleeve cutting.

[0006] In addition, another purpose of the present application is to provide a sleeve cutting device for realizing the sleeve cutting method.

[0007] To achieve the above purpose, the present application provides a sleeve cutting method, comprising:

[0008] The reference plate with a cut-through marking point is used to map and calibrate the position of the positioning plate and the position on the numerical control cutting machine;

[0009] A coordinate system xoy is established with two adjacent right-angle edges of the reference plate as the x-axis and y-axis, and the numerical control cutting machine and the positioning plate both take the coordinate system xoy as the reference;

[0010] placing the printed material with the back side up on the positioning plate, and making two adjacent right-angle edges of the printed material coincide with the x-axis and y-axis of the coordinate system xoy;

[0011] establishing a sub-coordinate system with a point in the collection window of the camera on the positioning plate as the origin, reading the position deviation of the mark points on the printed material relative to the origin of the sub-coordinate system and the angle deviation of the line between two mark points relative to the line between two sub-coordinate origins through the collection window;

[0012] grabbing and placing the printed material on the numerical control cutting machine, and placing the printed material on the coordinate system xoy on the numerical control cutting machine as the reference;

[0013] The numerical control cutting machine transforms and outputs the cutting pattern according to the position deviation and angle deviation calculated by the sampling signal.

[0014] Preferably, the number of sub-coordinate systems is three, corresponding to three mark points of the printed material respectively, and the three sub-coordinate systems are denoted as x1o1y1, x2o2y2, and x3o3y3 respectively.

[0015] The origins of the three sub-coordinate systems are denoted as o1(lx1, ly1), o2(lx2, ly2), and o3(lx3, ly3) in the coordinate system xoy.

[0016] The three mark points are located in the three sub-coordinate systems respectively, and the coordinates of the three mark points in the three sub-coordinate systems are denoted as P1’(px1, py1), P2’(px2, py2), and P3’(px3, py3), which are the origin position deviations of the three mark points relative to the origins of the three sub-coordinate systems x1o1y1, x2o2y2, and x3o3y3 respectively. The origin position deviations of the three mark points relative to the origin of the coordinate system xoy are calculated as P1(lx1+px1, ly1+py1), P2(lx2+px2, ly2+py2), and P3(lx3+px3, ly3+py3).

[0017] Preferably, the camera movement is arranged on the positioning plate, and the collection window of the camera has three position relationships with the mark points and the sub-coordinate systems:

[0018] The mark points and the sub-coordinate systems are both located in the collection window, and the camera reads the position coordinates and the position deviation of the two.

[0019] The sub-coordinate system is located in the collection window, and the mark point is not located in the collection window. The camera is moved so that the mark point and the sub-coordinate system are both located in the collection window, and the position coordinates and the position deviation are read.

[0020] The sub-coordinate system is located in the acquisition window, the mark point is not in the acquisition window, and only the mark point is in the acquisition window after the camera is moved, the deviation coordinates (p'x1, p'y1) of the camera after moving relative to the sub-coordinate system are recorded, and the deviation coordinates (p'x1', p'y1') of the mark point relative to the camera are read by the camera, then the coordinates of the mark point in the sub-coordinate system are P1'(p'x1+p'x1', p'y1+p'y1'), and the coordinates of the mark point in the coordinate system xoy are P1(lx1+p'x1+p'x1', ly1+p'y1+p'y1').

[0021] Preferably, the angle deviation θ satisfies: Tanθ=(k2-k1) / (1+k1×k2).

[0022] Wherein, k1 is the slope of straight line o1o2, and k2 is the slope of straight line P1P2.

[0023] Preferably, the number of cameras is three, corresponding to three positions of the through holes, the long side pixel number of the camera is Lpix, the long side object size of the camera window is Amm, and each pixel has a size of (A / Lpix) mm.

[0024] Preferably, the mapping calibration comprises:

[0025] The reference plate is placed on the cutting table of the numerical control cutting machine, the CCD camera of the numerical control cutting machine automatically scans the through holes with the coordinate system xoy as the reference, and the coordinates of the three through holes and the coordinates of the grabbing point V on the cutting table are accurately read;

[0026] The robot grabs the V point on the reference plate and places it on the positioning plate, so that the positioning plate has a positioning surface with the coordinate system xoy as the reference;

[0027] The printed material is placed on the positioning plate, two adjacent straight edges of the printed material coincide with the x-axis and y-axis of the coordinate system xoy, the robot grabs the printed material according to the coordinates of the V point and places it on the cutting table, and the printed material takes the coordinate system xoy on the cutting table as the reference;

[0028] The coordinates of the through holes on the mark substrate and the coordinates of the cutting table plane are established in equivalent correspondence;

[0029] The corresponding positions of the V point on the cutting platform and the W point on the positioning plate are established by robot teaching.

[0030] Preferably, the through cutting method further comprises:

[0031] The printed material is placed on the positioning plate with the front face upward, and two adjacent straight edges of the printed material are aligned with the x-axis and y-axis of the coordinate system xoy.

[0032] The printed material is grabbed and placed on the numerical control cutting machine by the robot, the mark points are automatically scanned by the CCD, and the cutting pattern is cut according to the definition of the software.

[0033] A sleeve cutting device for realizing the sleeve cutting method, comprising:

[0034] The plate turning device comprises the positioning plate and the camera slidingly arranged on the positioning plate, and further comprises a turning plate arranged rotatably, which is used to turn and place the printed material with the front face upward on the positioning plate.

[0035] The numerical control cutting machine comprises a cutting table for placing and cutting the printed material, and a CCD camera for scanning and positioning.

[0036] The robot is used to grab and place the printed material on the cutting table.

[0037] Preferably, the positioning plate is arranged obliquely and is provided with a positioning baffle at the side edge, and a conveying member is arranged at the lower side of the positioning plate and is in contact with the bottom edge of the printed material and drives the printed material to move to the positioning baffle.

[0038] The limiting surface of the positioning baffle is located on the x-axis of the coordinate system xoy, and the conveying surface of the conveying member is located on the y-axis of the coordinate system xoy.

[0039] Preferably, the camera is moved by a synchronous belt wheel system controlling a screw nut, and is moved and positioned with high precision by pulse control.

[0040] With respect to the background art, the present application firstly maps and calibrates the position of the positioning plate and the position of the numerical control cutting machine by using the reference plate with the mark points, thereby establishing the reference datum in the same coordinate system. On this basis, the coordinate system is established with two adjacent straight edges of the reference plate as the x-axis and y-axis. When the reference plate is located on the cutting table of the numerical control cutting machine, the control software can take the coordinate system xoy as the reference datum, and when the reference plate is transferred to the positioning plate by the ultra-high precision robot, the positioning plate can also take the coordinate system xoy as the reference datum, thereby realizing the synchronous mapping and calibration.

[0041] Of course, the positioning plate takes the coordinate system xoy as the reference datum, and two adjacent straight edges of the printing material need to coincide with the x-axis and y-axis of the coordinate system xoy, so as to ensure that the printing material can take the coordinate system as the reference datum. Meanwhile, three high-precision cameras are arranged on the positioning plate, and the positional deviation of the mark points on the printing material relative to the sub-coordinate system and the angle deviation of the line connecting the two mark points relative to the line connecting the origins of the two sub-coordinate systems are read by the cameras; and the position information of the through hole is determined by the CCD camera, that is, when the reference plate is located on the cutting table, the CCD camera can determine the position coordinates of the through hole.

[0042] Similarly, by high-precision control of the same robot, the printing material is grabbed and placed on the cutting table of the numerical control cutting machine, and the printing material can naturally be located in the coordinate system xoy of the cutting table and take the coordinate system as the reference datum. On this basis, the numerical control cutting machine corrects the material arrangement diagram and outputs the cutting pattern according to the positional deviation and angle deviation calculated by the sampling signal, and automatically completes the processes of cutting, indentation, slotting, etc., and moves the cutting table after completion. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0044] Figure 1 The reverse side sleeve cutting method provided by the embodiment of the present application is shown in the schematic diagram;

[0045] Figure 2 The front side sleeve cutting method provided by the embodiment of the present application is shown in the schematic diagram;

[0046] Figure 3 The coordinate system xoy and three sub-coordinate systems provided by the embodiment of the present application are shown in the schematic diagram;

[0047] Figure 4 The three-dimensional structure of the plate turning device provided by the embodiment of the present application is shown in the schematic diagram;

[0048] Figure 5 The side structure of the plate turning device provided by the embodiment of the present application is shown in the schematic diagram;

[0049] Figure 6 The front structure of the camera assembly provided by the embodiment of the present application is shown in the schematic diagram;

[0050] Figure 7 The back structure of the camera assembly provided by the embodiment of the present application is shown in the schematic diagram.

[0051] In the figure: 1, printed material 2, mark point 3, cutting platform 4, robot 5, rack 6, positioning plate 7, turning plate 8, control cylinder 9, conveying assembly 10, positioning baffle 11, position sensor 12, third camera assembly 13, first camera assembly 14, second camera assembly 15, fixed plate 16, control motor 17, synchronous pulley system 18, detection sensor 19, detection sheet 20, moving plate 21, screw nut pair 22, mounting seat 23, camera 24, camera light source. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0053] It should be noted that in the present embodiment, the directions or positional relationships indicated by "up", "down", "front", "back" and the like are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0054] In order for those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0055] As shown in the present embodiment, a method for cutting is provided, which comprises: Figures 1 to 3

[0056] The position of the positioning plate relative to the position on the numerical control cutting machine is mapped and calibrated by using the mark point 2 cutting through the reference plate, so as to establish a reference datum under the same coordinate system;

[0057] The mapping and calibration comprises:

[0058] The reference plate is placed on the cutting table of the numerical control cutting machine, and the CCD camera of the numerical control cutting machine automatically scans the cutting through hole with the coordinate system xoy as the reference, and accurately reads the coordinates of the three cutting through holes and the coordinates of the grabbing point V on the cutting table;

[0059] ​The robot 4 picks up the V point on the reference plate and places it on the positioning plate, at which time the positioning plate has a positioning surface with the coordinate system xoy as a reference and the coordinates of the pickup point W on the positioning plate;

[0060] When the printing material 1 is placed on the positioning plate, two adjacent right-angle edges of the printing material 1 coincide with the x-axis and the y-axis of the coordinate system xoy, the robot 4 accurately picks up the printing material 1 according to the coordinates of the V point (the coordinates of the V point are the same as the coordinates of the W point) and places it on the cutting table, and the printing material 1 takes the coordinate system xoy on the cutting table as a reference.

[0061] It should be noted that by establishing an equivalent corresponding relationship between the coordinates of the cutting through hole on the reference plate and the coordinates of the cutting table plane, the printing material 1 on the positioning plate and the printing material 1 on the cutting table are in the same reference coordinate system, so accurate picking and positioning can be achieved under the condition of coordinate determination.

[0062] On the basis of the above embodiment, the numerical control cutting machine corrects the material arrangement diagram and outputs the cutting pattern according to the position deviation and angle deviation calculated from the sampling signal, to obtain an accurate cutting image, thereby performing high-precision cutting.

[0063] In summary of the above embodiments, the reference plate with the marking point 2 cutting head is first used to map and calibrate the position of the positioning plate and the position of the numerical control cutting machine, thereby establishing a reference in the same coordinate system. On this basis, the coordinate system is established with two adjacent right-angle edges of the reference plate as the x-axis and the y-axis. When the reference plate is located on the cutting table of the numerical control cutting machine, the control software can take the coordinate system xoy as a reference, and when the reference plate is transferred to the positioning plate by the ultra-high precision robot 4, the positioning plate can also take the coordinate system xoy as a reference, thereby realizing synchronous mapping and calibration.

[0064] When the positioning plate takes the coordinate system xoy as a reference, two adjacent right-angle edges of the printing material 1 need to coincide with the x-axis and the y-axis of the coordinate system xoy, so as to ensure that the printing material 1 can take the coordinate system as a reference. At the same time, three high-precision cameras are arranged on the positioning plate, which read the position deviation of the marking point 2 on the printing material 1 relative to the sub-coordinate system and the angle deviation of the line connecting the two marking points 2 relative to the line connecting the two sub-coordinate systems; and the position information of the cutting through hole is determined by the CCD camera, that is, when the reference plate is located on the cutting table, the CCD camera can determine the position coordinates of the cutting through hole.

[0065] By high-precision control of the same robot 4, the printing material 1 is grabbed and placed on the cutting table of the numerical control cutting machine, and the printing material 1 can naturally be located in the coordinate system xoy of the cutting table and taken as a reference. On this basis, the numerical control cutting machine corrects the material arrangement diagram according to the position deviation and angle deviation calculated by the sampling signal, and outputs a cutting pattern, automatically completes the cutting, indentation, slotting and other processes, and moves the cutting table after completion.

[0066] It should be noted that the positioning plate of the present application actually determines the reference of the printing material 1. Through high-precision reading calibration of the reference plate by the CCD camera, the coordinate system xoy of the reference plate and the position coordinates of the through-hole and the grabbing point are determined, so as to be mapped and calibrated on the positioning plate. In addition, the through-hole is a hollow circular hole, and the grabbing point W and the grabbing point V on the numerical control cutting machine are obtained by teaching mode of the collaborative robot 4, that is, by means of the CCD camera on the numerical control cutting machine for precise cutting reading calibration.

[0067] And the present application respectively takes a point in the collection window of the camera on the positioning plate as the origin, establishes three sub-coordinate systems x1o1y1, x2o2y2, x3o3y3 in the coordinate system xoy, please refer to Figure 3 The origins of the three sub-coordinate systems are marked as o1(lx1, ly1), o2(lx2, ly2), and o3(lx3, ly3) in the coordinate system xoy; since the marking points 2 of different batches of materials may be different in position in the sub-coordinate systems, the coordinates of the three marking points 2 in the three sub-coordinate systems are marked as P1'(px1, py1), P2'(px2, py2), and P3'(px3, py3); that is, P1', P2', and P3' are the position deviations relative to the three through-holes. Of course, the position deviations of the above coordinates are recorded by high-precision cameras.

[0068] And o1(lx1, ly1), o2(lx2, ly2), and o3(lx3, ly3) can also be obtained by manual measurement or direct reading of the camera, so the origin deviations P1(lx1+px1, ly1+py1), P2(lx2+px2, ly2+py2), and P3(lx3+px3, ly3+py3) of the three marking points 2 relative to the origin of the coordinate system xoy. The values of px1, py1, px2, py2, px3, and py3 can be read by the camera. Thus, the deviation coordinates of the three marking points 2 are determined.

[0069] On this basis, the value of the angle deviation θ can be calculated in the coordinate system xoy, that is, Tanθ=(k2-k1) / (1+k1*k2); wherein, k1 is the slope of the straight line o1o2, and k2 is the slope of the straight line P1P2. The slopes of o1o3 or o2o3 can also be calculated in this way, and the angle to be rotated can be calculated according to different requirements, so as to correct the cutting track and obtain the accurate cutting image.

[0070] In addition, the number of cameras in the application is three, which correspond to three cutting hole positions respectively, the number of long side pixels of the camera is Lpix, the long side object size of the camera window is Amm, and each pixel is (A / Lpix)mm in size. The camera pixel here is 2592*1960 or greater than the parameter, the camera window is 13mm long, and each pixel is 13 / 2592=0.0050mm. The camera window here refers to the window object area that each camera can shoot.

[0071] It should be noted that, due to the different batches of printing materials 1, the positions of the mark points 2 may differ greatly, so there are three position relationships between the camera collection window and the mark points 2 and the cutting hole, which are as follows:

[0072] The first kind is that the mark point 2 and the sub-coordinate system are located in the collection window at the same time, at which time the camera can directly read the position coordinates of the two and the position deviation of the two, so as to complete the detection of the position deviation and the angle deviation of the mark point 2 by relying on the above features;

[0073] The second kind is that, in the initial state, the sub-coordinate system is located in the collection window, while the mark point 2 is not in the collection window, at which time the camera can be moved and the mark point 2 and the sub-coordinate system can be located in the collection window at the same time, the position coordinates and the position deviation can be read, and the detection of the position deviation and the angle deviation can be completed;

[0074] The third kind is that the sub-coordinate system is located in the collection window, the mark point 2 is not in the collection window, and only the mark point 2 is located in the collection window after moving the camera, the deviation coordinates (p'x1, p'y1) of the camera relative to the sub-coordinate system after moving are recorded, and the deviation coordinates (p'x1', p'y1') of the mark point 2 relative to the camera are read by the camera, then the coordinates of the mark point 2 in the sub-coordinate system are P1'(p'x1+p'x1', p'y1+p'y1'), and the coordinates of the mark point 2 in the coordinate system xoy are P1(lx1+p'x1+p'x1', ly1+p'y1+p'y1'), so as to determine the deviation coordinates and the angle deviation of the mark point 2 in the coordinate system xoy.

[0075] Please refer to Figure 2 The method further comprises:

[0076] Place the printed material 1 with the front face upward on the positioning plate, so that the two adjacent right-angle edges of the printed material 1 coincide with the x-axis and y-axis of the coordinate system xoy.

[0077] The printed material 1 is grabbed by the robot 4 and placed on the numerical control cutting machine, the CCD automatically scans the mark point 2, and the software outputs the cutting pattern cutting according to the definition, which will not be described here.

[0078] It should be emphasized that the present application establishes two right-angle coordinate systems by using the reference plate, maps the coordinate system data on the cutting platform 3 to the coordinate system of the positioning plate, and realizes the synchronous movement of the cutting material in the two coordinate planes through the mechanical arm of the robot 4. If there is a deviation, high-precision deviation detection is realized through the camera, and the deviation information is transmitted to the control software of the numerical control cutting machine, so that the position deviation and angle deviation calculated by the sampling signal are corrected and the cutting pattern is output, and an accurate cutting image is obtained, thereby realizing high-precision cutting.

[0079] In addition, the present application also provides a sleeve cutting device for realizing the sleeve cutting method, which comprises a turning device, a numerical control cutting machine and a robot 4. The turning device comprises any one of the positioning plates 6 and a camera 23 slidingly arranged on the positioning plate 6, and further comprises a turning plate 7 rotatably arranged, which can reverse and place the printed material 1 with the front face upward on the positioning plate 6.

[0080] The numerical control cutting machine is any one of the numerical control cutting machines, which comprises a cutting table for placing and cutting the printed material 1 and a CCD camera for scanning and positioning, which will not be described here. The robot 4 is a six-axis mechanical arm, which uses its ultra-high precision control capability to accurately place the printed material 1 on the cutting platform 3 of the numerical control cutting machine.

[0081] The positioning plate 6 is obliquely arranged and provided with a positioning baffle 10 on the side, and the lower side of the positioning plate 6 is provided with a conveying member in contact with the bottom edge of the printed material 1 and driving the printed material 1 to move to the positioning baffle 10. The limiting surface of the positioning baffle 10 is located on the x-axis of the coordinate system xoy, and the conveying surface of the conveying member is located on the y-axis of the coordinate system xoy.

[0082] Specifically, the turning device comprises a rack 5, a positioning plate 6, a turning plate 7, a conveying assembly 9 and a camera assembly. The rack 5 is the main load-bearing component of the device, which has good load-bearing capacity and stability. Adjustable bolt bases can be arranged at the four supporting legs of the lower part of the rack 5 to adjust the height and levelness, which will not be described here, and can be referred to the prior art.

[0083] The positioning plate 6 is obliquely arranged on the rack 5, and the inclination is close to 90°, so that the printed material 1 placed on the inclined surface can have certain stability. TheFigure 4 It can be seen that the positioning plate 6 has a flat upper inclined surface, and the printing material 1 can be stably placed; and the positioning plate 6 is provided with a positioning baffle 10 on the side, when the printing material 1 side is in abutment with the positioning baffle 10, the printing material 1 can have a stable reference datum, specifically, the reference datum here is the coordinate system xoy, and the subsequent reference datum is also the coordinate system xoy, which will not be described here again, and is convenient for subsequent high-precision cutting.

[0084] The turning plate 7 is rotationally arranged on the rack 5 and located opposite to the positioning plate 6, and specific reference can be made to Figure 4 and Figure 5 , the printing material 1 is turned over and stably placed on the upper inclined surface of the positioning plate 6 by rotation. In other words, since the incoming material can be front-up or back-up, different placement modes are selected according to different cutting modes; that is, if the front cutting mode is selected, the front-up incoming material can be directly placed on the positioning plate 6, and when the back-up material is placed on the turning plate 7, the back-up material is turned over and placed on the positioning plate 6 by the turning plate 7, and the front cutting is realized. Of course, the back cutting mode can also refer to the above process, which will not be described here again.

[0085] Since the mark point 2 is located on the front of the printing material 1, the way of determining the position information of the mark point 2 is different for different cutting modes. When the front cutting is performed, the mark point 2 can be directly scanned by the CCD camera of the numerical control cutting machine, so that the cutting pattern is output according to the control software of the numerical control cutting machine, and the cutting table is moved after cutting. For back cutting, the position information of the mark point 2 is determined by three camera assemblies, each of which includes a camera 23 for determining the position information of the mark point 2 of the printing material 1 and sliding relative to the positioning plate 6. The sliding arrangement of the camera 23 can satisfy the information confirmation of the mark point 2 at different positions, and has a wider application range. The camera 23 synchronizes the position information to the control software of the numerical control cutting machine, and the numerical control cutting machine rotates and moves the cutting pattern according to the position information to obtain an accurate cutting image.

[0086] The conveying assembly 9 is arranged on the rack 5 below the positioning plate 6, which can determine the reference position of the printing material 1, and can drive the printing material 1 to move towards the positioning baffle 10, and stop when reaching the positioning baffle 10, so as to ensure that the printing material 1 is in a relatively stable reference position.

[0087] In summary of the above embodiments, the present application uses the positioning plate 6 and the positioning baffle 10 on the positioning plate 6 to position the printed material 1, and cooperates with the turnover plate 7 to realize automatic turnover of the incoming material, and different cutting-in methods can be selected according to needs. The rack 5 on the lower side of the positioning plate 6 is provided with a conveying assembly 9, which can automatically convey the turned-over printed material 1 to the positioning baffle 10, so as to determine the reference position of the printed material 1. At the same time, the position information of the mark point 2 of the printed material 1 is determined by the camera assembly, and the position information is synchronized to the control software of the numerical control cutting machine. The numerical control cutting machine rotates and moves the cutting pattern according to the position information to obtain an accurate cutting image, so as to perform high-precision cutting. In addition, the device can meet the automatic small-batch production line of front cutting-in and back cutting-in of sheet materials, and better solve the problems of low precision and low efficiency of cutting-in and back cutting-in of printed matters.

[0088] The three camera assemblies are respectively a first camera assembly 13 and a second camera assembly 14 located on one side near the lower side edge of the printed material 1, and a third camera assembly 12 located on the upper end of the side of the printed material 1 near the positioning baffle 10. The cameras on the first camera assembly 13 and the second camera assembly 14 move horizontally, and the camera on the third camera assembly 12 moves obliquely along the oblique direction of the positioning plate 6. The three cameras form three-point positioning, and the three cameras 23 correspond to the positions of the three mark points 2 on the printed material 1 respectively.

[0089] Please refer to Figure 6 and Figure 7 Any camera assembly includes a fixed plate 15, a screw nut pair 21, a moving plate 20 and a camera light source 24. The fixed plate 15 is fixed on the lower inclined surface of the positioning plate 6. The screw 21 is rotationally arranged on the fixed plate 15 and arranged along the length direction of the fixed plate 15. The moving plate 20 is connected with the screw nut pair 21 in a screw sliding block mode, and the camera 23 is fixedly arranged on the moving plate 20. The camera light source 24 is fixedly arranged on the moving plate 20 to provide light source for the camera 23. The camera 23 is a USB camera.

[0090] Please refer to Figure 6 The fixed plate 15 is provided with a control motor 16, which can be a servo motor or a stepping motor. The control motor 16 is accurately controlled by PLC, so that the movement parameters of the camera 23 can be accurately recorded. The control motor 16 is connected with the end of the screw nut pair 21 through a synchronous belt wheel system 17, which is used to drive the screw nut pair 21 to rotate. The screw nut pair 21 is rotationally arranged on the fixed plate 15 through the mounting seats 22 at both ends thereof.

[0091] At the same time, the mounting seat 22 is provided with a detection sensor 18, and the moving plate 20 is provided with a detection sheet 19 matched with the detection sensor 18, which is used to detect the movement position of the moving plate 20 and ensure that the moving plate 20 will not collide and the like.

[0092] The conveying assembly 9 takes the conveying belt as an example, and the conveying belt is arranged horizontally as a whole, so as to ensure that the printing material 1 can move horizontally on the conveying assembly 9 and always keep horizontal. On this basis, the belt surface of the conveying belt is arranged vertically to the inclined surface of the positioning plate 6, so as to ensure the conveying stability of the printing material 1. Of course, the conveying assembly 9 described above includes but is not limited to this mode, and other horizontal conveying modes can also be adopted as long as they can ensure stable conveying.

[0093] In addition, in order to ensure that the printing material 1 has a stable reference datum, the positioning baffle 10 has a vertical blocking surface which can abut against the side edge of the printing material 1, so as to cooperate with the conveying belt to make the lower side edge of the printing material 1 horizontal and the left and right side edges in the vertical plane, thereby keeping the printing material 1 having a stable reference datum. It should be noted that the reference datum provided above is to provide a stable recording parameter for the camera 23, so as to improve the accuracy of the marking point 2 and the deviation parameter of the cut-through hole piece, so as to achieve the purpose of accurate cutting.

[0094] The position sensor 11 is further arranged on the positioning plate 6, and the position sensor 11 is used to detect whether the printing material 1 reaches the blocking surface of the positioning plate 6, so as to stop the action of the conveying assembly 9, make the printing material 1 stably stop at the positioning baffle 10, and make the printing material 1 have a stable reference datum.

[0095] The control cylinder 8 is arranged on the rack 5, the power end of the control cylinder 8 is hinged to the flap 7, and is used to control the rotation of the flap 7. The control cylinder 8 can be accurately controlled by PLC, so as to improve the control accuracy of the flap 7, and the camera can be moved by the screw nut, and each control pulse can realize the position accuracy of 0.0017mm of the camera.

[0096] It should be noted that in the present specification, the relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any such actual relationship or order between the entities.

[0097] The principles and implementation modes of the present application are described by using specific examples in the present specification, and the above description of the examples is only used to help understand the method and core idea of the present application. It should be noted that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the present application without departing from the principles of the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A cut-out method characterized by, The application relates to a method for mapping and calibrating the position of a positioning plate and the position on a numerical control cutting machine by using a reference plate with marked points. A coordinate system xoy is established by taking two adjacent right-angle edges of the reference plate as an x axis and a y axis, and the numerical control cutting machine and the positioning plate both take the coordinate system xoy as a reference datum; A printed material is placed on the positioning plate with the back of the printed material facing upward, and two adjacent right-angle edges of the printed material are made to coincide with the x axis and the y axis of the coordinate system xoy; A sub-coordinate system is established by taking a point in a collection window of a camera on the positioning plate as an origin, and the position deviation of marked points on the printed material relative to the origin of the sub-coordinate system and the angle deviation of a line connecting two marked points relative to a line connecting two origins of the sub-coordinate system are read through the collection window; The printed material is grabbed and placed on the numerical control cutting machine, and the printed material is placed by taking the coordinate system xoy on the numerical control cutting machine as a datum; The numerical control cutting machine calculates the position deviation and the angle deviation according to a sampling signal, transforms a material arrangement diagram, and outputs a cutting pattern; The number of sub-coordinate systems is three, and the three sub-coordinate systems correspond to three marked points of the printed material, and the three sub-coordinate systems are respectively denoted as x1o1y1, x2o2y2 and x3o3y3; The origins of the three sub-coordinate systems are marked as o1 (lx1, ly1), o2 (lx2, ly2) and o3 (lx3, ly3) in the coordinate system xoy; The three marked points are respectively located in the three sub-coordinate systems, and the coordinates of the three marked points in the three sub-coordinate systems are marked as P1' (px1, py1), P2' (px2, py2) and P3' (px3, py3), P1', P2' and P3' are the origin position deviations of the three marked points relative to the origins of the three sub-coordinate systems x1o1y1, x2o2y2 and x3o3y3, and the origin position deviations P1 (lx1+px1, ly1+py1), P2 (lx2+px2, ly2+py2) and P3 (lx3+px3, ly3+py3) of the three marked points relative to the origin of the coordinate system xoy are calculated; The camera is movably arranged on the positioning plate, and the collection window of the camera has three position relationships with the marked points and the sub-coordinate systems: The marked points and the sub-coordinate systems are both located in the collection window, and the camera reads the position coordinates and the position deviation of the two; The sub-coordinate system is located in the collection window, the marked point is not located in the collection window, the camera is moved so that the marked point and the sub-coordinate system are both located in the collection window, and the position coordinates and the position deviation are read. ​ The sub-coordinate system is located in the acquisition window, the mark point is not in the acquisition window, and only the mark point is in the acquisition window after the camera is moved. The deviation coordinates (p'x1, p'y1) of the camera after moving relative to the sub-coordinate system are recorded, and the deviation coordinates (p'x1', p'y1') of the mark point relative to the camera are read by the camera. The coordinates of the mark point in the sub-coordinate system are P1'(p'x1+p'x1', p'y1+p'y1'), and the coordinates of the mark point in the coordinate system xoy are P1(lx1+p'x1+p'x1', ly1+p'y1+p'y1'). The angle deviation θ satisfies: Tanθ=(k2-k1) / (1+k1×k2); Wherein, k1 is the slope of straight line o1o2, and k2 is the slope of straight line P1P2.

2. The cut-out method of claim 1, wherein, The number of cameras is three, corresponding to three cut-through hole positions, the long side pixel number of the camera is Lpix, the long side object size of the camera window is Amm, and each pixel is (A / Lpix) mm in size.

3. The cut-out method of claim 1, wherein, The mapping calibration includes: Placing the reference plate on the cutting table of the numerical control cutting machine, and the CCD camera of the numerical control cutting machine automatically scans the cut-through hole and accurately reads the coordinates of the three cut-through holes and the coordinates of the grabbing point V on the cutting table. The robot grabs the V point on the reference plate and places it on the positioning plate, and the positioning plate has a positioning surface with the coordinate system xoy as the reference at this time. The printed material is placed on the positioning plate, two adjacent straight edges of the printed material coincide with the x-axis and y-axis of the coordinate system xoy, the robot grabs the printed material according to the coordinates of the V point and places it on the cutting table, and the printed material takes the coordinate system xoy on the cutting table as the reference. An equivalent corresponding relationship is established between the coordinates of the cut-through hole on the reference plate and the coordinates of the cutting table plane. The corresponding positions of the V point on the cutting platform and the W point on the positioning plate are established through robot teaching.

4. The cut-out method of claim 1, wherein, Also includes: Place the printed material with the front face upward on the positioning plate, and make the two adjacent straight edges of the printed material coincide with the x-axis and y-axis of the coordinate system xoy; The robot grabs and places the printed material on the numerical control cutting machine, the CCD automatically scans the mark point, the software performs graphic transformation according to the actual deviation position of the mark and outputs the completed graphic cutting.

5. A cut-through device implementing the cut-through method of any of claims 1-4, characterized by It includes: The plate turning device includes the positioning plate and the camera slidingly arranged on the positioning plate according to any one of claims 1-4, and further includes a rotating plate arranged to turn and place the printed material with the front face upward on the positioning plate; The numerical control cutting machine is the numerical control cutting machine according to any one of claims 1-4, including a cutting table for placing and cutting the printed material and a scanning and positioning CCD camera; The robot is used to grab the printed material and place it on the designated cutting table.

6. The sleeve cutter of claim 5, wherein, The positioning plate is obliquely arranged and is provided with a positioning baffle at the side edge, and the lower side of the positioning plate is provided with a conveying part which is in contact with the bottom edge of the printing material and drives the printing material to move to the position of the positioning baffle. The limiting surface of the positioning baffle is located on the x-axis of the coordinate system xoy, and the conveying surface of the conveying part is located on the y-axis of the coordinate system xoy.

7. The sleeve cutter of claim 5, wherein, The camera is driven to move by a synchronous belt wheel system and a screw nut, and is controlled to move and position with high precision by pulses.

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