Natural wide clear edge sawing machine

Abstract

The application discloses a natural wide clear edge sawing machine, which comprises a main shaft moving sawing mechanism, a visual identification system and a deviation rectifying module, and a cutting method comprising the following steps: a wood board is moved to a scanning area of the visual identification system under the conveying of a chain feeding mechanism, and the visual identification system analyzes the inner and outer contours of the to-be-cleaned edge positions on the front and back sides of the wood board; the intersection of the straight moving path of the deviation rectifying module and the inner contour of the front side of the wood board is determined, and the position E point of the clamping jaw of the deviation rectifying module is determined, and the moving distance of the deviation rectifying module is obtained from the image; after the wood board is clamped, the wood board is lifted to a set height, the visual identification system takes a second photo of the wood board to identify and calculate the front and rear cutting lines, the wood board is lifted to a certain height to compensate for the droop of the free side of the wood board, the visual identification system takes a second photo to improve the cutting precision; and the position of the deviation rectifying module clamped on the wood board is self-adaptively adjusted according to the width of the wood board identified by the first photo.

Description

Technical Field

[0001] This invention relates to the field of wood processing technology, specifically to a natural wide edge clearing saw. Background Technology

[0002] Edge cleaning of wood boards is a process in wood processing that aims to remove excess material from the edges of the boards, making the edges flat and smooth, thereby improving the overall quality and aesthetics of the wood products.

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

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

[0005] The device's correction module adopts a single-point structure. The extension and retraction of the correction cylinder drives the crank arm to rotate, thereby pressing or releasing the lower pressure block. However, it can only be applied to a single thickness of wood board. When the thickness of the wood board changes, it cannot guarantee that the bottom wall of the lower pressure block and the top wall of the board to be cleaned are flush.

[0006] Furthermore, using a cylinder to press down the wood conveyor can easily lead to unstable air pressure, which can cause the material to deviate from its intended path. The cylinder is also susceptible to weather conditions, and extremely cold weather can freeze the pneumatic components.

[0007] Furthermore, the device achieves edge cleaning of both sides of the board by moving two independent sawing components. The increase in the number of sawing components leads to higher manufacturing costs and occupies more space. The increased size of the overall equipment is not conducive to transportation. Summary of the Invention

[0008] The purpose of this invention is to provide a natural wide edge clearing saw to solve the problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A natural wide edge clearing saw includes a frame, a spindle moving sawing mechanism and a vision recognition system mounted on the frame, a chain feeding mechanism and a deviation correction module are provided on one side of the frame, and a cutting method of the natural wide edge clearing saw includes the following steps:

[0011] The wooden board is conveyed by the chain feeding mechanism to the scanning area of ​​the vision recognition system, and the vision recognition system analyzes the inner and outer contours of the front and rear sides of the wooden board to be cleaned.

[0012] Determine the intersection point C between the linear movement path of the left-side correction module and the inner contour of the front side of the wooden board, and the position E where the gripper of the left-side correction module is to be clamped. From the image, the movement distance of the left-side correction module is calculated to be: L. AE ;

[0013] Similarly, the right-side correction module moves a distance of L. ae ;

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

[0015] The left and right correction modules move to the set position and clamp the wooden board, then lift it to the set height. The visual recognition system takes a second picture of the wooden board for recognition and calculation.

[0016] Calculate the front and rear cutting lines that maximize the yield of the board during edge trimming, and preset the cutting trajectory lines of the two saw blades of the spindle moving sawing mechanism;

[0017] The distance the first cutter of the left-side correction module moves is: L FG The data for the second cut movement is L. DH ;

[0018] The distance the first cutter of the right-side correction module moves is: L fg The data for the second cut movement is L. dh ;

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

[0020] Preferably, the process for determining the clamping position E of the left correction module and the clamping position e of the right correction module is as follows:

[0021] When the visual recognition system performs the first photo recognition calculation on the wooden board, it calculates the front and rear cutting lines that maximize the yield of the board during edge cleaning. Based on the intersection of the straight movement path of the left and right correction modules with the front and rear cutting lines, it calculates the positions E and e.

[0022] L CE =k*L CF ;

[0023] L ce =k*L cf ;

[0024] Where k is a preset proportional coefficient.

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

[0026] Calculate all upper lines that are tangent to two points on the inner contour of the front side of the wooden board, and calculate all lower lines that are tangent to two points on the inner contour of the rear side of the wooden board.

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

[0028] Preferably, the visual recognition system includes several detection cameras arranged at the same height and in a straight line, with the field of view of adjacent detection cameras partially overlapping, and the images captured by several detection cameras are stitched together to form an image containing the entire wooden board.

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

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

[0031] Saw blades are installed at both ends of the spindle.

[0032] Preferably, the belt drive assembly includes a motor pulley, a main shaft pulley, and a belt. The motor pulley is installed at the output end of the first motor, the main shaft pulley is installed on the main shaft, and the motor pulley and the main shaft pulley are connected by a belt.

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

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

[0035] Preferably, the correction module includes:

[0036] A movable base and a lead screw drive assembly that drives the movable base to move in a first direction;

[0037] The movable base is provided with two sets of third motors, as well as a first connecting plate and a second connecting plate that move along the second direction. The output ends of the two sets of third motors are respectively provided with a support plate gear and a pressure plate gear. The first connecting plate and the second connecting plate are respectively provided with a support plate rack and a pressure plate rack extending along their moving direction. The support plate rack meshes with the support plate gear, and the pressure plate gear meshes with the pressure plate rack.

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

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

[0040] Preferably, the lead screw drive assembly includes a guide rail base, a third guide rail and a lead screw disposed on the guide rail base, the lead screw being driven by a fourth motor, the movable base being mounted on a fourth slider, and the fourth slider sliding on the third guide rail.

[0041] Compared with the prior art, the beneficial effects of the present invention are:

[0042] The alignment module uses the first image recognition from the vision recognition system to determine the position. After the alignment module clamps the wooden board, the free side of the board will droop, which may cause interference and collision with the components on the forward moving path. Therefore, the board is raised to a certain height to compensate. At the same time, the raised board will deform to a certain extent and deviate from the image recognized by the vision recognition system in the first image recognition. Therefore, the vision recognition system performs a second image recognition. The accuracy of cutting the wooden board is improved by taking two images for recognition.

[0043] The position of the correction module clamping the wooden board is adaptively adjusted based on the width of the wooden board identified in the first photo.

[0044] The front cutting line, the back cutting line, and the left and right edge lines of the wood board are combined to form a trapezoidal structure. By calculating the area of ​​the trapezoidal structure, the front cutting line and the back cutting line that maximize the yield of the wood board during edge cleaning can be calculated. This simplifies the calculation of complex problems and improves the operating speed.

[0045] One spindle drives two saw blades to cut simultaneously, allowing two planks to be cut at once. This reduces the number of motors, lowers manufacturing costs, and occupies less space, making the equipment more compact and reducing floor space and transportation costs. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0048] Figure 2 This is a schematic diagram of the second perspective structure of the present invention.

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

[0050] Figure 4 This is a schematic diagram of the distribution of detection cameras in the visual recognition system of the present invention.

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

[0052] Figure 6 This is a schematic diagram of the spindle moving sawing mechanism of the present invention in action on the machine frame.

[0053] Figure 7 This is a schematic diagram of the spindle moving sawing mechanism of the present invention.

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

[0055] Figure 9 This is a schematic diagram of the correction module of the present invention.

[0056] Figure 10 for Figure 9 A magnified view of a portion of the image.

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

[0058] 61. Camera inspection; 62. Camera field of view; 63. Overlapping field of view area; 64. Calibration plate; 65. Calibration circle.

[0059] 200, First guide rail; 300, Spindle moving assembly; 400, Saw rack;

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

[0061] 12. Guide rail base; 13. Third guide rail; 14. Moving base; 15. Fourth slider; 16. Coupling; 17. Lead screw protective sleeve; 18. Lead screw; 19. Servo connector; 110. Fourth motor; 111. First connecting plate; 112. Support plate rack; 113. Support plate gear; 114. Support plate; 115. Pressure plate; 116. Third motor; 117. Reducer; 118. Pressure plate gear; 119. Pressure plate rack; 120. Second guide rail; 121. Third slider; 122. Second connecting plate. Detailed Implementation

[0062] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0063] Example:

[0064] A natural wide edge clearing saw, such as Figure 1-2 As shown:

[0065] Includes frame 7 and vision recognition system 6, spindle moving sawing mechanism 8, feeding pressing mechanism and discharging pressing mechanism mounted on frame 7;

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

[0067] Because the wooden board 3 has a long strip structure, such as Figure 4 , 5As shown, the visual recognition system 6 includes several detection cameras 61 arranged at the same height and in a straight line, such that the field of view 62 of each detection camera 61 is elongated and adapted to the elongated wooden board 3 to be detected. A calibration plate 64 is set below the detection camera 61. The edges of the field of view 62 of adjacent detection cameras 61 partially overlap, and the overlapping part is the field of view overlap area 63. Each field of view overlap area 63 is the same size. The photos taken by adjacent detection cameras 61 are used to adjust parameters and fit through the image of the field of view overlap area 62. Several calibration circles 65 are opened on the calibration plate 64 and are distributed in a matrix on the calibration plate 64. The shooting parameters of each detection camera 1 can be adjusted individually.

[0068] Before testing, the calibration plate 64 is fixed on the frame 7. Three testing cameras 61 take pictures of the calibration plate 64. The shooting parameters of each testing camera 61 are adjusted so that the overlapping areas 63 of adjacent fields of view are basically the same. The calibration circles 65 in the overlapping areas of the fields of view 63 are six in total, arranged in three rows and two columns. The controller performs a fitting operation on the images of the three testing cameras 61 so that the six calibration circles 65 in the overlapping areas of the fields of view 63 of the images of two adjacent testing cameras 61 coincide. The controller saves the parameters of the images taken by each testing camera 61. After the controller parameters are saved, the calibration plate 64 is removed from the frame 7, and the wooden board 3 to be tested is placed in the corresponding position for photographing and testing. The controller can fit and stitch the images taken by each testing camera 61 using the pre-saved parameters to quickly obtain a complete image of the wooden board 3 to be tested, and then perform testing and analysis on the complete image of the wooden board 3 to be tested.

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

[0070] The frame 7 is horizontally mounted with parallel first guide rails 200 and sawing racks 400.

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

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

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

[0074] The output end of the first motor 83 is equipped with a motor pulley 81, and a main shaft pulley 815 is coaxially fixed on the outer wall of the main shaft 814 located inside the main shaft box 87. The motor pulley 81 and the main shaft pulley 815 are connected by three belts 82.

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

[0076] Working principle:

[0077] When the second motor 811 starts, it drives the main shaft moving assembly 300 to move left and right through the cooperation of the sawing gear 9 and the sawing rack 400, and the two saw blades 85 back and forth synchronously saw.

[0078] The first motor 83 starts and drives the motor pulley 81 to rotate. The rotation of the motor pulley 81 drives the main shaft pulley 815 to rotate via the belt 82. The rotation of the motor pulley 81 drives the two saw blades 85 at both ends to rotate via the main shaft 814 to achieve sawing.

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

[0080] The spindle moving assembly 300 moves back and forth to saw the front and back sides of a set of wooden boards 3.

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

[0082] The system includes a fixed guide rail base 12 and a third guide rail 13 fixed on the guide rail base 12; a lead screw 18 rotatably connected to the guide rail base 12; a servo connector 19 fixed on one side of the guide rail base 12; a fourth motor 110 mounted on the servo connector 19; the fourth motor 110 is a servo motor; one end of the lead screw 18 and the output end of the fourth motor 110 are connected by a coupling 16; a fourth slider 15 is slidably connected to the third guide rail 13; a movable base 14 is fixed to the top wall of the fourth slider 15; the movable base 14 and the lead screw 18 are threaded together; and a lead screw protective sleeve 17 is fitted on the outside of the lead screw 18.

[0083] The movable base 14 has a first connecting plate 111 and a second connecting plate 122 slidably connected to one side via a slider rail assembly. The slider rail assembly includes a first guide rail 120 and a first slider 121. The second connecting plate 122 is located above the first connecting plate 111.

[0084] A vertically extending support plate rack 112 is fixedly provided on one side of the first connecting plate 111, and a vertically extending pressure plate rack 119 is fixedly provided on one side of the second connecting plate 122.

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

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

[0087] Working principle:

[0088] During the forward conveying of the wooden board 3, in order to avoid the pressure plate 115 and the pallet 114 affecting the movement of the board, the pressure plate 115 and the pallet 114 are positioned below the horizontal plane of the wooden board 3.

[0089] When clamping is required, a set of first motors 16 drives the pressure plate 15 to move upward through the cooperation of the pressure plate gear 18 and the pressure plate rack 19, so that it is positioned above the horizontal plane of the plate.

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

[0091] Then, the fourth motor 110 drives the lead screw 18 to rotate. The rotation of the lead screw 18 drives the pressure plate 115 and the support plate 114 to move forward to the upper and lower sides of the wooden board 3 through the moving base 14.

[0092] Then, the pressure plate 15 moves downward and cooperates with the support plate 14 to clamp the wooden board 3; with the cooperation of the screw 18 and the movable base 14, the clamped wooden board 3 is driven forward.

[0093] A cutting method for a natural wide-edge saw, such as Figure 3 As shown:

[0094] A stack of wooden boards 3 is placed on the feeding rack. The chain feeding mechanism 2 drives the bottom wooden board 3 forward into the scanning area of ​​the vision recognition system 6. When the scanning area enters the wooden board 3, the sensor at the feeding port senses that the wooden board 3 has passed and stops conveying the wooden board 3 after a delay.

[0095] Multiple detection cameras 61 of the visual recognition system 6 take the first picture, which is then stitched together by the visual software system to form a complete spliced ​​image of the wooden board 3, presenting an image containing the entire wooden board 3;

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

[0097] Based on the image containing the entire wooden board 3, a visual AI algorithm is used to analyze the inner and outer contours of the front and rear edges to be cleaned on both sides of the wooden board 3. The intersection point C of the virtual straight line moving from the left correction module 1 and the inner contour of the rear side of the wooden board 3 is determined. The position CE is the preset distance that the pressure plate 115 and the support plate 114 of the left correction module 1 need to clamp. The front and rear edges to be cleaned on both sides of the wooden board 3 are not aligned and are not suitable for clamping. The position between the left gripping point and the origin is determined from the image as: L. AB +L BE ;

[0098] The positions of points E and e can be preset to fixed values; or adaptively adjusted based on the width of the board 3 calculated by visual recognition during the first photo, so that the clamping distance of the board 3 with a larger width is larger and the clamping distance of the board 3 with a smaller width is smaller; the front cutting line and the rear cutting line with the largest board yield during the edge cleaning of the board 3 are calculated by visual recognition during the first photo, and the positions of points E and e are calculated based on the intersection points D, F, d and f of the straight movement path of the left and right sets of correction modules 1 with the front and rear cutting lines;

[0099] L CE =k*L CF ;

[0100] L ce =k*L cf ;

[0101] Where k is a preset proportionality coefficient, which can be 0.1-0.4.

[0102] Because the detection angle of the detection camera 61 is small, the two sets of correction modules 1 located at the initial position are not within the camera field of view 62 of the detection camera 61. Therefore, an origin position B and b are first built into the plane, and L is used in each process. AB The distance to Lab is consistent. Subsequent images containing the entire wooden board 3 are stitched onto the plane with points B and b. Simultaneously, two saw blade 85 cutting trajectory lines are pre-set at corresponding positions within this plane.

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

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

[0105] The obtained capture point position is used to move the corresponding data in the left and right correction modules 1 respectively;

[0106] After the two sets of correction modules 1 clamp the wooden board 3, in order to avoid problems such as the wooden board 3 lifting, sagging, or deforming, it needs to be raised to a certain height; at this time, the visual recognition system 6 takes a second picture, and the obtained image is then entered into the visual software system for calculation and analysis.

[0107] The height of the wooden board 3 is different in the two visual recognitions, but the image size can be kept the same in both photos by scaling the images proportionally.

[0108] Because the thickness of the wooden board 3 is different, the distance between the upper surface of the wooden board 3 of different thicknesses and the detection camera 61 is different during the first visual recognition, which slightly affects the clamping position of the two sets of correction modules 1; while during the second visual recognition, the pressure plate 115 can be controlled to rise to a constant height, so that the distance between the upper surface of the wooden board 3 of different thicknesses and the detection camera 61 is the same, thereby improving the cutting accuracy.

[0109] By analyzing the image, AI algorithms were used again to identify the inner and outer contours of the front and back sides of the board 3 where the edges to be cleaned were to be identified. The inner contour was mainly used, and the inner contour was analyzed separately for the front and back sides of the board. Multiple points were distributed along the edge of the inner contour on the board. Without passing through the area to be cleaned, a straight line was drawn that was tangent to two points of the front inner contour. This straight line was set as the upper straight line. A straight line was drawn that was tangent to two points of the back inner contour. This straight line was set as the lower straight line.

[0110] There are multiple possibilities for the upper and lower straight lines, such as... Figure 3As shown, the left and right sides of the wooden board 3 are parallel to each other. The area of ​​the upper straight line, the lower straight line, and the left and right sides of the wooden board 3 is calculated. The upper straight line and the lower straight line with the largest area are selected. The upper straight line is the front cutting line and the lower straight line is the back cutting line.

[0111] The logic for calculating the front and back cutting lines is the same during the first and second visual recognition processes.

[0112] Based on the information calculated from the image, we obtained the data required for each of the two cutting blades in the two sets of correction modules 1:

[0113] Left correction module 1: The data for the first cutter movement is L. FG The data for the second cut movement is L. DH ;

[0114] Right-side correction module 1: The data for the first cutter movement is L. fg The data for the second cut movement is L. dh ;

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

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

[0117] Because of L FG and L fg L DH、 and L dh The distances are not necessarily the same, and the two sets of correction modules 1 move in the same direction, causing the wooden board 3 to deviate from the preset position after correction. This deviation is small and can be eliminated by the width of the saw blade 85, the gear meshing clearance, etc.

[0118] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0119] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A cutting method for a natural wide edge clearing saw, comprising a frame (7) and a spindle moving sawing mechanism (8) and a vision recognition system (6) mounted on the frame (7), the vision recognition system (6) comprising a plurality of detection cameras (61) arranged at the same height and in the same straight line, a chain feeding mechanism (2) and a correction module (1) being provided on one side of the frame (7), characterized in that: Includes the following steps: The wooden board is moved to the scanning area of ​​the vision recognition system (6) by the chain feeding mechanism (2). The vision recognition system (6) analyzes the inner and outer contours of the front and back sides of the wooden board (3) to be cleaned. Determine the intersection point C of the straight-line movement path of the left correction module (1) and the inner contour of the front side of the wooden board (3), and the position E of the gripper of the left correction module (1) to be clamped. From the image, the movement distance of the left correction module (1) is: L AE ; Similarly, the right-side correction module (1) moves by a distance of L. ae ; Where A and a are the initial positions of the left and right correction modules (1); The process of determining the clamping position E of the left correction module (1) and the clamping position e of the right correction module (1) is as follows: When the visual recognition system (6) performs the first photo recognition calculation on the wooden board (3), the front cutting line and the back cutting line with the highest board yield when the edge of the wooden board (3) is cleared are calculated. The position E point and the position e point are calculated based on the intersection of the straight movement path of the left and right correction module (1) and the front and back cutting lines. L CE =k*L CF ; L ce =k*L cf ; Where k is a preset proportionality coefficient; The left and right correction modules (1) move to the set position and clamp the wooden board (3) and then lift it to the set height so that the upper surface of the wooden board (3) of different thicknesses is the same as the distance between the detection camera (61). The visual recognition system (6) performs secondary photo recognition calculation on the wooden board (3). Calculate the front and back cutting lines that maximize the yield of the board when cleaning the edge of the board (3), and preset the cutting trajectory lines of the two saw blades (85) of the spindle moving sawing mechanism (8); During the first cut, the left-side correction module (1) moves the clamped wooden board (3) forward by L. FG The right-side correction module (1) moves the clamped wooden board (3) forward by L. fg ; During the second cut, the left-side correction module (1) moves the clamped wooden board (3) forward by L. DH -L FG The right-side correction module (1) moves the clamped wooden board (3) forward by L. dh -L fg ; Wherein, F is the intersection of the straight-line movement path of the left correction module (1) and the front cutting line; G is the intersection of the straight-line movement path of the left correction module (1) and the cutting trajectory line of the first saw blade (85); D is the intersection of the straight-line movement path of the left correction module (1) and the rear cutting line; H is the intersection of the straight-line movement path of the left correction module (1) and the cutting trajectory line of the second saw blade (85); f is the intersection of the straight-line movement path of the right correction module (1) and the front cutting line; g is the intersection of the straight-line movement path of the right correction module (1) and the cutting trajectory line of the first saw blade (85); d is the intersection of the straight-line movement path of the right correction module (1) and the rear cutting line; h is the intersection of the straight-line movement path of the right correction module (1) and the cutting trajectory line of the second saw blade (85). The calculation process for the front and rear cutting lines is as follows: Calculate all the upper lines that are tangent to two points on the front inner contour of the wooden board (3), and calculate all the lower lines that are tangent to two points on the rear inner contour of the wooden board (3); Calculate the area of ​​the trapezoid formed by the upper straight line, the lower straight line, and the straight lines on the left and right edges of the wooden board (3). Select the upper and lower straight lines corresponding to the trapezoid with the largest area as the front cutting line and the back cutting line.

2. The cutting method of a natural wide edge-cleaning saw according to claim 1, characterized in that: The camera field of view (62) of adjacent detection cameras (61) partially overlaps, and the images captured by several detection cameras (61) are stitched together to form an image containing the whole wooden board (3).

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

4. The cutting method of a natural wide edge-cleaning saw according to claim 3, characterized in that: The belt drive assembly includes a motor pulley (81), a main shaft pulley (815), and a belt (82). The motor pulley (81) is installed at the output end of the first motor (83), and the main shaft pulley (815) is installed on the main shaft (814). The motor pulley (81) and the main shaft pulley (815) are connected by the belt (82).

5. The cutting method of a natural wide edge-cleaning saw according to claim 3, characterized in that: A first guide rail (200) is fixedly installed on the frame (7), and a first slider (88) is installed on the spindle box (87). The first slider (88) slides on the first guide rail (200).

6. The cutting method of a natural wide edge-cleaning saw according to claim 3, characterized in that: The power assembly includes a second motor (811) mounted on the spindle box (87), a sawing gear (89) mounted on the output end of the second motor (811), and a sawing rack (400) mounted on the frame (7), wherein the sawing gear (89) and the sawing rack (400) mesh.

7. The cutting method of a natural wide edge-cleaning saw according to claim 1, characterized in that: The correction module (1) includes: The movable base (14) and the screw drive assembly that drives the movable base (14) to move in a first direction; The movable base (14) is provided with two sets of third motors (116), and a first connecting plate (111) and a second connecting plate (122) that move along the second direction. The output ends of the two sets of third motors (116) are respectively provided with a support plate gear (113) and a pressure plate gear (118). The first connecting plate (111) and the second connecting plate (122) are respectively provided with a support plate rack (112) and a pressure plate rack (119) extending along their moving direction. The support plate rack (112) meshes with the support plate gear (113), and the pressure plate gear (118) meshes with the pressure plate rack (119). A pallet (114) is provided on the pallet rack (112), and a pressure plate (115) is provided on the pressure plate rack (119). The first direction and the second direction are perpendicular to each other.

8. The cutting method of a natural wide edge-cleaning saw according to claim 7, characterized in that: The lead screw drive assembly includes a guide rail base (12), a third guide rail (13) and a lead screw (18) disposed on the guide rail base (12). The lead screw (18) is driven by a fourth motor (110). The movable base (14) is mounted on a fourth slider (15), and the fourth slider (15) slides on the third guide rail (13).

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