3D laser cutting system based on three-dimensional machine vision

Abstract

The invention relates to the technical field of laser cutting, in particular to a 3D laser cutting system based on three-dimensional machine vision, which comprises a base, a 3D laser cutting mechanical arm, a placing shell, a control panel, a transverse moving part, two three-dimensional cameras and an adjusting assembly, the two three-dimensional cameras below the rotating plate are driven by the rotating plate to rotate and adjust, multi-angle shooting is conducted around a workpiece, meanwhile, the workpiece is clamped by the clamping claw, then the workpiece is overturned and adjusted through the overturning unit, a three-dimensional model is analyzed and calculated, then a cutting track is planned through the control panel, the 3D laser cutting mechanical arm is started to conduct laser cutting on the workpiece, and the workpiece is cut through the three-dimensional laser cutting mechanical arm. Therefore, the workpiece can be shot in all directions, a model can be effectively analyzed, the workpiece can be turned over, the situation that dead corners exist is avoided, and the cutting precision is effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of laser cutting technology, and in particular to a 3D laser cutting system based on three-dimensional machine vision. Background Art

[0002] At present, in order to improve the cutting efficiency in workpiece processing, 3D laser cutting equipment is usually used. An industrial camera is set to pre-shoot the cut workpiece and analyze its specific model, so that the 3D laser cutting can calculate the specific cutting path. However, for objects with multiple free surfaces, the laser cutting process is greatly limited.

[0003] In the prior art, the shooting range is increased by setting a first three-dimensional camera and a second three-dimensional camera. When a workpiece passes through the shooting position of the three-dimensional camera, the first three-dimensional camera and the second three-dimensional camera of the three-dimensional camera can shoot the workpiece and transmit its shooting data to a computer. The computer can obtain a three-dimensional model of the workpiece based on the shooting data.

[0004] However, in the aforementioned prior art, the first 3D camera and the second 3D camera can only perform simple linear movements, and the workpiece is placed on a conveyor belt and cannot be adjusted, and the side of the workpiece that contacts the conveyor belt cannot be scanned at all times; therefore, the workpiece cannot be photographed in all directions, and blind spots are likely to exist, resulting in the inability to effectively analyze its model, which ultimately affects the accuracy of laser cutting. Summary of the invention

[0005] The purpose of the present invention is to provide a 3D laser cutting system based on three-dimensional machine vision to solve the problem that the first three-dimensional camera and the second three-dimensional camera in the prior art can only perform simple linear movements, and the workpiece is placed on a conveyor belt and cannot be adjusted, and the side of the workpiece in contact with the conveyor belt cannot be scanned at all times; therefore, the workpiece cannot be photographed in all directions, and blind spots are likely to exist, resulting in the inability to effectively analyze its model, which ultimately affects the accuracy of laser cutting.

[0006] To achieve the above object, the present invention provides a 3D laser cutting system based on three-dimensional machine vision, comprising a base, a 3D laser cutting mechanical arm, a placement shell, a control panel, a lateral moving component, two three-dimensional cameras and an adjustment component, wherein the 3D laser cutting mechanical arm is arranged above the base, the placement shell is arranged on one side of the 3D laser cutting mechanical arm, the control panel is arranged on one side of the placement shell, the lateral moving component is arranged inside the placement shell, and the two three-dimensional cameras are symmetrically distributed below the lateral moving component;

[0007] The adjustment assembly includes a rotating plate, two clamping claws and two flipping units. The rotating plate is arranged below the transverse moving component, the two flipping units are symmetrically arranged above the base, and the two clamping claws are respectively arranged on the corresponding flipping units.

[0008] Wherein, the adjustment assembly further comprises a driving unit, and the driving unit is arranged on the transverse moving component;

[0009] The driving unit includes a support plate, a driving component, a gear ring, a rotating shaft and a connecting mechanism. The support plate is arranged at the output end of the transverse moving component, the driving component is arranged below the support plate, the rotating shaft is rotatably connected to the support plate and is located below the support plate, the gear ring is sleeved on the outside of the rotating shaft, the gear ring and the driving component are adapted to each other, and the rotating shaft is connected to the rotating plate through the connecting mechanism.

[0010] Wherein, the connecting mechanism includes a plurality of connecting rods and a rotating cover, both ends of the plurality of connecting rods are respectively fixedly connected to the top of the rotating plate and the bottom of the rotating shaft, one end of the rotating cover is fixedly connected to the top of the rotating plate, and the other end of the rotating cover is rotatably connected to the bottom of the support plate, and the rotating cover is sleeved on the outside of the driving component and the rotating shaft.

[0011] Wherein, the adjustment assembly further comprises two camera lifting units, and the two camera lifting units are symmetrically arranged below the rotating plate;

[0012] The camera lifting unit includes a first lifting component and an up-and-down sliding component, wherein the first lifting component is arranged below the rotating plate, the up-and-down sliding component is arranged at the output end of the first lifting component, and the three-dimensional camera is arranged at the output end of the up-and-down sliding component.

[0013] Wherein, the flip unit comprises a flip component and a pushing component, the flip component is arranged above the base, the pushing component is arranged at the output end of the flip component, and the clamping claw is arranged at the output end of the pushing component.

[0014] Wherein, the clamping claw comprises a plurality of abutting blocks and a plurality of protrusions, the plurality of abutting blocks are sequentially distributed around the output end of the pushing component, and the plurality of protrusions are respectively arranged on the outer sides of the corresponding abutting blocks.

[0015] Wherein, the adjustment assembly further comprises a workpiece lifting unit, and the workpiece lifting unit is arranged on the base;

[0016] The workpiece lifting unit includes a plurality of second lifting components, a placing plate and a rotating mechanism. The plurality of second lifting components are arranged below the base. The output end of the second lifting component passes through the base and is fixedly connected to the placing plate. The rotating mechanism is arranged on the placing plate. The base has a placing groove, and the placing plate and the placing groove are adapted to each other.

[0017] Wherein, the rotating mechanism includes a rotating component and a rotating disk, the rotating disk is rotatably connected to the placement disk, the rotating component is arranged below the placement disk, and the output end of the rotating component passes through the placement disk and is fixedly connected to the rotating disk.

[0018] Wherein, the adjustment assembly further comprises a discharge unit, and the discharge unit is arranged above the base;

[0019] The discharge unit includes a discharge component, a discharge plate and a collection box. The base also has an inclined slot. The discharge component is arranged above the base and located on one side of the placement plate. The discharge plate is arranged at the output end of the discharge component, and the collection box is arranged below the inclined slot.

[0020] The present invention provides a 3D laser cutting system based on three-dimensional machine vision. The rotating plate drives the two three-dimensional cameras below to rotate and adjust, and multi-angle shooting is performed around the workpiece. At the same time, the clamping claw clamps the workpiece, and then relies on the flipping unit to flip and adjust it, analyze and calculate the three-dimensional model, and then plan the cutting trajectory through the control panel, and start the 3D laser cutting robot arm to laser cut the workpiece. Through the above-mentioned structural setting, the workpiece can be photographed in all directions, the model can be effectively analyzed, and the workpiece can be flipped to avoid blind spots, thereby effectively improving the cutting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0023] Figure 2 It is a cross-sectional view of the whole of the present invention.

[0024] Figure 3 The present invention Figure 2 AA line section view.

[0025] Figure 4 It is a schematic structural diagram of the driving unit of the present invention.

[0026] Figure 5The present invention Figure 2 Enlarged view of the local structure at point B.

[0027] Figure 6 The present invention Figure 2 Enlarged view of the local structure at location C.

[0028] 1-base, 2-3D laser cutting robot arm, 3-placement shell, 4-control panel, 5-lateral moving part, 6-3D camera, 7-turn plate, 8-support plate, 9-driving part, 10-gear ring, 11-rotating shaft, 12-connecting rod, 13-rotating cover, 14-first lifting part, 15-up and down sliding part, 16-flipping part, 17-pushing part, 18-holding block, 19-bump, 20-second lifting part, 21-placement plate, 22-placement slot, 23-rotating part, 24-rotating plate, 25-discharging part, 26-discharging plate, 27-collecting box, 28-slanted slot. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0030] See also Figures 1 to 6 The present invention provides a 3D laser cutting system based on three-dimensional machine vision, including a base 1, a 3D laser cutting robot 2, a housing 3, a control panel 4, a lateral moving component 5, two three-dimensional cameras 6 and an adjustment component, wherein the adjustment component includes a rotating plate 7, two clamping claws and two flip units, and the adjustment component also includes a driving unit, wherein the driving unit includes a supporting plate 8, a driving component 9, a gear ring 10, a rotating shaft 11 and a connecting mechanism, wherein the connecting mechanism includes a plurality of connecting rods 12 and a rotating cover 13, and the adjustment component also includes two camera lifting units, wherein the camera lifting units are provided. The machine lifting unit includes a first lifting component 14 and an up and down sliding component 15, the flip unit includes a flip component 16 and a pushing component 17, the clamping claw includes a plurality of abutment blocks 18 and a plurality of protrusions 19, the adjustment component also includes a workpiece lifting unit, the workpiece lifting unit includes a plurality of second lifting components 20, a placement plate 21 and a rotating mechanism, the rotating mechanism includes a rotating component 23 and a rotating disk 24, the adjustment component also includes a discharge unit, the discharge unit includes a discharge component 25, a discharge plate 26 and a collection box 27, and the base 1 also has a chute 28.

[0031] The 3D laser cutting robot 2 is arranged above the base 1, the housing 3 is arranged on one side of the 3D laser cutting robot 2, the control panel 4 is arranged on one side of the housing 3, the lateral moving part 5 is arranged inside the housing 3, the two three-dimensional cameras 6 are symmetrically distributed below the lateral moving part 5, the rotating plate 7 is arranged below the lateral moving part 5, the two flipping units are symmetrically arranged above the base 1, and the two clamping claws are respectively arranged on the corresponding flipping units. The lateral moving part 5 is an electric slide rail, which can adjust the position of the three-dimensional camera 6 laterally; the two three-dimensional cameras 6 below are driven to rotate and adjust through the rotating plate 7, and multi-angle shooting is performed around the workpiece. At the same time, the clamping claw clamps the workpiece, and then relies on the flipping unit to flip and adjust it, analyze and calculate the three-dimensional model, and then plan the cutting trajectory through the control panel 4, and start the 3D laser cutting robot 2 to laser cut the workpiece.

[0032] Secondly, the driving unit is arranged on the transverse moving part 5; the support plate 8 is arranged at the output end of the transverse moving part 5, the driving part 9 is arranged below the support plate 8, the rotating shaft 11 is rotatably connected with the support plate 8 and is located below the support plate 8, the gear ring 10 is sleeved on the outside of the rotating shaft 11, the gear ring 10 and the driving part 9 are adapted to each other, and the rotating shaft 11 is connected to the rotating plate 7 through the connecting mechanism. The support plate 8 supports the driving part 9, and the driving part 9 is composed of a motor and a gear. The motor drives the gear, and then the gear cooperates with the gear ring 10 to drive the rotating shaft 11 to rotate. Through the connecting mechanism, the rotating plate 7 is rotated to adjust the angle of the three-dimensional camera 6. After shooting, the three-dimensional camera 6 is placed inside the placement shell through the transverse moving part 5 to free up space for cutting.

[0033] At the same time, both ends of the plurality of connecting rods 12 are respectively fixedly connected to the top of the rotating plate 7 and the bottom of the rotating shaft 11, one end of the rotating cover 13 is fixedly connected to the top of the rotating plate 7, and the other end of the rotating cover 13 is rotatably connected to the bottom of the supporting plate 8, and the rotating cover 13 is sleeved on the outside of the driving component 9 and the rotating shaft 11. The connecting rods 12 are used to connect and fix the rotating plate 7 and the rotating shaft 11, and when the rotating plate 7 rotates, the rotating cover 13 also rotates with it to maintain stability and protect internal components.

[0034] In addition, the two camera lifting units are symmetrically arranged below the rotating plate 7; the first lifting component 14 is arranged below the rotating plate 7, the up-down sliding component 15 is arranged at the output end of the first lifting component 14, and the three-dimensional camera 6 is arranged at the output end of the up-down sliding component 15. The first lifting component 14 is a cylinder, and the up-down sliding component 15 is an electric slide rail; when the three-dimensional camera 6 is located above the workpiece, the first lifting component 14 and the up-down sliding component 15 can be started in sequence to adjust the height and shoot the workpiece.

[0035] Then, the flipping component 16 is arranged above the base 1, and the pushing component 17 is arranged at the output end of the flipping component 16, and the clamping claw is arranged at the output end of the pushing component 17. The flipping component 16 is a motor, and the pushing component 17 is a cylinder. When the pushing component 17 is started, the workpiece is clamped and fixed by the clamping claw. At this time, the flipping component 16 is started, driving the pushing component 17 and the clamping claw to rotate, and the workpiece is flipped.

[0036] Again, the plurality of abutting blocks 18 are sequentially distributed around the output end of the pushing member 17, and the plurality of protrusions 19 are respectively arranged on the outer sides of the corresponding abutting blocks 18. When abutting against a workpiece, the abutting blocks 18 and the protrusions 19 cooperate to abut and fix the workpiece at multiple points, and are suitable for workpieces of various shapes.

[0037] Furthermore, the workpiece lifting unit is arranged on the base 1; a plurality of second lifting components 20 are arranged below the base 1; the output end of the second lifting component 20 passes through the base 1 and is fixedly connected to the placement plate 21; the rotating mechanism is arranged on the placement plate 21; the base 1 has a placement groove 22; the placement plate 21 and the placement groove 22 are adapted to each other. The second lifting component 20 is a cylinder; when the cutting is completed, the second lifting component 20 is started to drive the placement plate 21 to move down into the placement groove 22, and garbage is cleaned at this time; at the same time, the rotating mechanism can also be started to drive the workpiece to rotate and adjust the shooting angle.

[0038] Furthermore, the rotating disk 24 is rotatably connected to the placing disk 21, the rotating component 23 is disposed below the placing disk 21, and the output end of the rotating component 23 passes through the placing disk 21 and is fixedly connected to the rotating disk 24. The rotating component 23 is a motor, and when the rotating component 23 is started, the workpiece placed on the rotating disk 24 is driven to rotate by an angle.

[0039] Finally, the discharge unit is arranged above the base 1; the base 1 also has an inclined slot 28, the discharge component 25 is arranged above the base 1 and located on one side of the placement plate 21, the discharge plate 26 is arranged at the output end of the discharge component 25, and the collection box 27 is arranged below the inclined slot 28. The discharge component 25 is a cylinder; when the discharge component 25 is started, the discharge plate 26 is driven to move, and the cut waste is pushed into the inclined slot 28 and slides into the collection box 27.

[0040] When using a 3D laser cutting system based on three-dimensional machine vision of the present embodiment, the workpiece is first placed on the rotating disk 24, the rotating component 23 is started, driving the workpiece placed on the rotating disk 24 to rotate, and the first lifting component 14 and the upper and lower sliding components 15 are started in turn to adjust the height, so that the three-dimensional camera 6 is located on both sides of the workpiece; at this time, the driving component 9 drives the gear ring 10 to rotate, driving the rotating shaft 11 to rotate, and the rotating plate 7 is rotated through the connecting mechanism, so that the three-dimensional camera 6 rotates around the workpiece to shoot, and then the clamping claw clamps the workpiece, and then relies on the flip unit to flip and adjust it, and continue shooting; after shooting is completed, the three-dimensional camera 6 is placed inside the placement shell through the lateral moving component 5 to make room time for cutting; finally, the photographed information is sent to the control panel 4, the three-dimensional model is analyzed and calculated, and then the cutting trajectory is planned, and the 3D laser cutting robot arm 2 is started to perform laser cutting on the workpiece; when the cutting is completed, the clamping claw continues to clamp the workpiece, and then the second lifting component 20 drives the placement plate 21 to move down and enter the placement groove 22, so that the height of the placement plate 21 is reduced, and the workpiece is clamped above the placement plate 21, thereby facilitating the ejection of waste; the discharge component 25 is started, driving the discharge plate 26 to move, pushing the cut waste into the inclined groove 28, and sliding it to the collection box 27 for unified treatment; through the above-mentioned structural setting, the workpiece can be photographed in all directions, the model can be effectively analyzed, the workpiece can be flipped, the existence of dead angles can be avoided, and the cutting accuracy can be effectively improved.

[0041] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A 3D laser cutting system based on 3D machine vision, comprising a base, a 3D laser cutting mechanical arm, a placement shell, a control panel, a lateral moving component and two 3D cameras, wherein the 3D laser cutting mechanical arm is arranged above the base, the placement shell is arranged on one side of the 3D laser cutting mechanical arm, the control panel is arranged on one side of the placement shell, the lateral moving component is arranged inside the placement shell, and the two 3D cameras are symmetrically distributed below the lateral moving component, characterized in that: Also included are adjustment components; The adjustment assembly includes a rotating plate, two clamping claws and two flipping units. The rotating plate is arranged below the transverse moving component, the two flipping units are symmetrically arranged above the base, and the two clamping claws are respectively arranged on the corresponding flipping units.

2. The 3D laser cutting system based on three-dimensional machine vision according to claim 1, characterized in that: The adjustment assembly further comprises a driving unit, and the driving unit is arranged on the transverse moving component; The driving unit includes a support plate, a driving component, a gear ring, a rotating shaft and a connecting mechanism. The support plate is arranged at the output end of the transverse moving component, the driving component is arranged below the support plate, the rotating shaft is rotatably connected to the support plate and is located below the support plate, the gear ring is sleeved on the outside of the rotating shaft, the gear ring and the driving component are adapted to each other, and the rotating shaft is connected to the rotating plate through the connecting mechanism.

3. The 3D laser cutting system based on 3D machine vision as claimed in claim 2, characterized in that: The connecting mechanism includes a plurality of connecting rods and a rotating cover, both ends of the plurality of connecting rods are respectively fixedly connected to the top of the rotating plate and the bottom of the rotating shaft, one end of the rotating cover is fixedly connected to the top of the rotating plate, and the other end of the rotating cover is rotatably connected to the bottom of the support plate, and the rotating cover is sleeved on the outside of the driving component and the rotating shaft.

4. The 3D laser cutting system based on 3D machine vision as claimed in claim 3, characterized in that: The adjustment assembly further includes two camera lifting units, and the two camera lifting units are symmetrically arranged below the rotating plate; The camera lifting unit includes a first lifting component and an up-and-down sliding component, wherein the first lifting component is arranged below the rotating plate, the up-and-down sliding component is arranged at the output end of the first lifting component, and the three-dimensional camera is arranged at the output end of the up-and-down sliding component.

5. The 3D laser cutting system based on three-dimensional machine vision as claimed in claim 4, characterized in that: The flip unit comprises a flip component and a pushing component. The flip component is arranged above the base, and the pushing component is arranged at the output end of the flip component. The output end of the pushing component is provided with the clamping claw.

6. The 3D laser cutting system based on three-dimensional machine vision according to claim 5, characterized in that: The clamping claw comprises a plurality of abutting blocks and a plurality of protrusions. The plurality of abutting blocks are sequentially distributed around the output end of the pushing component, and the plurality of protrusions are respectively arranged on the outer sides of the corresponding abutting blocks.

7. The 3D laser cutting system based on three-dimensional machine vision according to claim 6, characterized in that: The adjustment assembly further includes a workpiece lifting unit, and the workpiece lifting unit is disposed on the base; The workpiece lifting unit includes a plurality of second lifting components, a placing plate and a rotating mechanism. The plurality of second lifting components are arranged below the base. The output end of the second lifting component passes through the base and is fixedly connected to the placing plate. The rotating mechanism is arranged on the placing plate. The base has a placing groove, and the placing plate and the placing groove are adapted to each other.

8. The 3D laser cutting system based on three-dimensional machine vision as claimed in claim 7, characterized in that: The rotating mechanism comprises a rotating component and a rotating disk, the rotating disk is rotatably connected to the placing disk, the rotating component is arranged below the placing disk, and the output end of the rotating component passes through the placing disk and is fixedly connected to the rotating disk.

9. The 3D laser cutting system based on three-dimensional machine vision as claimed in claim 8, characterized in that: The adjustment assembly further includes a discharge unit, and the discharge unit is arranged above the base; The discharge unit includes a discharge component, a discharge plate and a collection box. The base also has an inclined slot. The discharge component is arranged above the base and located on one side of the placement plate. The discharge plate is arranged at the output end of the discharge component, and the collection box is arranged below the inclined slot.

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