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

Abstract

The application 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 adjusting assembly comprises a rotating plate, two clamping claws and two turnover units, the two three-dimensional cameras below the rotating plate are driven to rotate and adjust, multi-angle shooting around a workpiece is realized, the workpiece is clamped by the clamping claws, then the workpiece is turned over by the turnover units, a three-dimensional model is analyzed and calculated, a cutting track is planned through the control panel, the 3D laser cutting mechanical arm is started to perform laser cutting on the workpiece, the workpiece can be shot in all directions, the model can be effectively analyzed, the workpiece can be turned over, the situation of dead angle is avoided, and the cutting precision is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of laser cutting, in particular to a 3D laser cutting system based on three-dimensional machine vision. BACKGROUND

[0002] At present, in order to improve the cutting processing efficiency, a 3D laser cutting device is usually used in workpiece processing, the workpiece is pre-photographed by setting an industrial camera, the specific model is analyzed, and the specific cutting path is calculated by the 3D laser cutting, but for objects with multiple free curved surfaces, the laser cutting processing is greatly limited.

[0003] In the prior art, the first three-dimensional camera and the second three-dimensional camera are set to increase the shooting range, when the 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 the shooting data to the computer, and the computer can obtain the three-dimensional model of the workpiece according to the shooting data.

[0004] However, in the foregoing prior art, the first three-dimensional camera and the second three-dimensional camera can only move in a simple straight line, and the workpiece is placed on the conveying belt and cannot be adjusted, and the side of the workpiece in contact with the conveying belt cannot be scanned all the time; therefore, the workpiece cannot be shot in all directions, and there are dead angles, which leads to ineffective analysis of the model and ultimately affects the precision of laser cutting. SUMMARY

[0005] The present application relates to the technical field of laser cutting, in particular to a 3D laser cutting system based on three-dimensional machine vision.

[0006] To achieve the above-mentioned purpose, the present application provides 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 horizontal moving part, two three-dimensional cameras and an adjusting assembly, the 3D laser cutting mechanical arm is arranged above the base, the placing shell is arranged on one side of the 3D laser cutting mechanical arm, the control panel is arranged on one side of the placing shell, the horizontal moving part is arranged in the interior of the placing shell, and two three-dimensional cameras are symmetrically distributed below the horizontal moving part.

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

[0008] The adjusting assembly further comprises a driving unit, and the driving unit is arranged on the transverse moving component.

[0009] The driving unit comprises a supporting plate, a driving component, a gear ring, a rotating shaft and a connecting mechanism, the supporting plate is arranged at the output end of the transverse moving component, the driving component is arranged below the supporting plate, the rotating shaft is rotationally connected with the supporting plate and located below the supporting plate, the gear ring is arranged outside the rotating shaft, the gear ring is matched with the driving component, and the rotating shaft is connected with the rotating plate through the connecting mechanism.

[0010] The connecting mechanism comprises a plurality of connecting rods and a rotating cover, two ends of the plurality of connecting rods are fixedly connected with the upper side of the rotating plate and the lower side of the rotating shaft respectively, one end of the rotating cover is fixedly connected with the upper side of the rotating plate, the other end of the rotating cover is rotationally connected with the lower side of the supporting plate, and the rotating cover is arranged outside the driving component and the rotating shaft.

[0011] The adjusting 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 comprises a first lifting component and an up-down sliding component, the first lifting component is arranged below the rotating plate, the up-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-down sliding component.

[0013] The turnover unit comprises a turnover component and a pushing component, the turnover component is arranged above the base, the pushing component is arranged at the output end of the turnover component, and the output end of the pushing component is provided with the clamping claw.

[0014] The clamping claw comprises a plurality of abutting blocks and a plurality of convex blocks, the plurality of abutting blocks are sequentially and circumferentially distributed at the output end of the pushing component, and the plurality of convex blocks are respectively arranged outside the corresponding abutting blocks.

[0015] The adjusting assembly further comprises a workpiece lifting unit, and the workpiece lifting unit is arranged on the base.

[0016] The workpiece lifting unit comprises a plurality of second lifting components, a placing disc and a rotating mechanism, the plurality of second lifting components are arranged below the base, output ends of the second lifting components penetrate through the base and are fixedly connected with the placing disc, the rotating mechanism is arranged on the placing disc, the base is provided with a placing groove, and the placing disc is matched with the placing groove.

[0017] The rotating mechanism comprises a rotating component and a rotating disc, the rotating disc is rotationally connected with the placing disc, the rotating component is arranged below the placing disc, and an output end of the rotating component penetrates through the placing disc and is fixedly connected with the rotating disc.

[0018] The adjusting assembly further comprises a discharging unit, and the discharging unit is arranged above the base.

[0019] The discharging unit comprises a discharging component, a discharging plate and a collecting box, the base is further provided with an inclined groove, the discharging component is arranged above the base and located at one side of the placing disc, the discharging plate is arranged at an output end of the discharging component, and the collecting box is arranged below the inclined groove.

[0020] The 3D laser cutting system based on three-dimensional machine vision can perform multi-angle shooting around the workpiece by rotating and adjusting the two three-dimensional cameras below the rotating plate, clamp the workpiece by the clamping jaw, then flip and adjust the workpiece by the flipping unit, analyze and calculate the three-dimensional model, plan the cutting track through the control panel, start the 3D laser cutting mechanical arm to perform laser cutting on the workpiece, and can perform all-around shooting on the workpiece, effectively analyze the model, flip the workpiece, avoid the existence of dead angle, and effectively improve the cutting precision. BRIEF DESCRIPTION OF DRAWINGS

[0021] 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.

[0022] Figure 1 is a structural schematic view of the whole of the present application.

[0023] Figure 2 is a sectional view of the whole of the present application.

[0024] Figure 3 is a sectional view of A-A line of the present application. Figure 2

[0025] Figure 4 is a structural schematic view of the driving unit of the present application.

[0026] Figure 5 ​is the application Figure 2 is the application

[0027] Figure 6 is the application Figure 2 is the application

[0028] 1-base, 2-3D laser cutting mechanical arm, 3-putting shell, 4-control panel, 5-lateral movement component, 6-three-dimensional camera, 7-rotation plate, 8-supporting plate, 9-driving component, 10-tooth ring, 11-rotation shaft, 12-connecting rod, 13-rotary cover, 14-first lifting component, 15-up and down sliding component, 16-flipping component, 17-pushing component, 18-resisting block, 19-bulge, 20-second lifting component, 21-putting disc, 22-putting groove, 23-rotary component, 24-rotary disc, 25-discharging component, 26-discharging plate, 27-collection box, 28-inclined groove. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, the embodiments described below by referring to the drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0030] Please refer to Figures 1 to 6 The present application provides a 3D laser cutting system based on three-dimensional machine vision, including base 1, 3D laser cutting mechanical arm 2, putting shell 3, control panel 4, lateral movement component 5, two three-dimensional cameras 6 and adjusting assembly, the adjusting assembly includes rotation plate 7, two clamping jaws and two flipping units, the adjusting assembly further includes driving unit, the driving unit includes supporting plate 8, driving component 9, tooth ring 10, rotation shaft 11 and connecting mechanism, the connecting mechanism includes a plurality of connecting rods 12 and rotary cover 13, the adjusting assembly further includes two camera lifting units, the camera lifting unit includes first lifting component 14 and up and down sliding component 15, the flipping unit includes flipping component 16 and pushing component 17, the clamping jaw includes a plurality of resisting blocks 18 and a plurality of bulges 19, the adjusting assembly further includes workpiece lifting unit, the workpiece lifting unit includes a plurality of second lifting components 20, putting disc 21 and rotary mechanism, the rotary mechanism includes rotary component 23 and rotary disc 24, the adjusting assembly further includes discharging unit, the discharging unit includes discharging component 25, discharging plate 26 and collection box 27, the base 1 further has inclined groove 28.

[0031] The 3D laser cutting mechanical arm 2 is arranged above the base 1, the placing shell 3 is arranged on one side of the 3D laser cutting mechanical arm 2, the control panel 4 is arranged on one side of the placing shell 3, the transverse moving component 5 is arranged inside the placing shell 3, two three-dimensional cameras 6 are symmetrically distributed below the transverse moving component 5, the rotating plate 7 is arranged below the transverse moving component 5, two overturning units are symmetrically arranged above the base 1, and two clamping claws are arranged on the corresponding overturning units. The transverse moving component 5 is an electric sliding rail, which can adjust the position of the three-dimensional camera 6 in the transverse direction; the two three-dimensional cameras 6 below are driven to rotate and adjust by the rotating plate 7, multiple angle shooting around the workpiece is realized, the workpiece is clamped by the clamping claw, then the workpiece is overturned and adjusted by the overturning unit, a three-dimensional model is analyzed and calculated, then a cutting track is planned by the control panel 4, and the 3D laser cutting mechanical arm 2 is started to cut the workpiece.

[0032] Secondly, the driving unit is arranged on the transverse moving component 5; the supporting plate 8 is arranged at the output end of the transverse moving component 5, the driving component 9 is arranged below the supporting plate 8, the rotating shaft 11 is rotationally connected with the supporting plate 8 and located below the supporting plate 8, the gear ring 10 is sleeved outside the rotating shaft 11, the gear ring 10 is matched with the driving component 9, and the rotating shaft 11 is connected with the rotating plate 7 through the connecting mechanism. The driving component 9 is supported by the supporting plate 8, the driving component 9 is composed of a motor and a gear, the gear is driven by the motor, then the gear is matched with the gear ring 10 to drive the rotating shaft 11 to rotate, the rotating plate 7 is rotated through the connecting mechanism, the angle of the three-dimensional camera 6 is adjusted, after shooting is completed, the three-dimensional camera 6 is placed inside the placing shell through the transverse moving component 5, so as to make room for cutting.

[0033] Meanwhile, two ends of the plurality of connecting rods 12 are fixedly connected with the upper side of the rotating plate 7 and the lower side of the rotating shaft 11 respectively, one end of the rotating cover 13 is fixedly connected with the upper side of the rotating plate 7, the other end of the rotating cover 13 is rotationally connected with the lower side of the supporting plate 8, and the rotating cover 13 is sleeved outside the driving component 9 and the rotating shaft 11. The connecting rod 12 is used for connecting and fixing the rotating plate 7 and the rotating shaft 11, when the rotating plate 7 rotates, the rotating cover 13 also rotates to keep stability and protect internal components.

[0034] In addition, two said 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 pneumatic cylinder, and the up-down sliding component 15 is an electric sliding rail; after the three-dimensional camera 6 is 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 take pictures of the workpiece.

[0035] Then, the overturning component 16 is arranged above the base 1, the pushing component 17 is arranged at the output end of the overturning component 16, and the output end of the pushing component 17 is provided with the clamping jaw. The overturning component 16 is a motor, the pushing component 17 is a pneumatic cylinder, the pushing component 17 is started, the workpiece is clamped and fixed by the clamping jaw, at this time the overturning component 16 is started, drives the pushing component 17 and the clamping jaw to rotate, and overturns the workpiece.

[0036] Again, a plurality of said abutting blocks 18 are sequentially and circumferentially distributed at the output end of the pushing component 17, and a plurality of said protrusions 19 are respectively arranged at the outer side of the corresponding abutting blocks 18. When abutting the workpiece, the abutting blocks 18 and the protrusions 19 cooperate, and the workpiece can be abutted and fixed at multiple points, which is 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 penetrates through the base 1 and is fixedly connected with the placing disc 21, the rotating mechanism is arranged on the placing disc 21, the base 1 has a placing groove 22, and the placing disc 21 and the placing groove 22 are matched with each other. The second lifting component 20 is a pneumatic cylinder; after cutting is completed, the second lifting component 20 is started to drive the placing disc 21 to move downward into the placing groove 22, at this time garbage cleaning is performed; at the same time, the rotating mechanism can be started to drive the workpiece to rotate and adjust the shooting angle.

[0038] Furthermore, the rotating disc 24 is rotationally connected with the placing disc 21, the rotating component 23 is arranged below the placing disc 21, the output end of the rotating component 23 penetrates through the placing disc 21 and is fixedly connected with the rotating disc 24. The rotating component 23 is a motor, and the rotating component 23 is started to drive the workpiece placed on the rotating disc 24 to rotate.

[0039] Finally, the discharging unit is arranged above the base 1; the base 1 further has a chute 28, the discharging component 25 is arranged above the base 1 and located at one side of the placing disc 21, the discharging plate 26 is arranged at the output end of the discharging component 25, and the collecting box 27 is arranged below the chute 28. The discharging component 25 is a pneumatic cylinder; the discharging component 25 is started to drive the discharging plate 26 to move, and the cut waste is pushed into the chute 28 and slides to the collecting box 27.

[0040] When the 3D laser cutting system based on three-dimensional machine vision is used, first, the workpiece is placed on the rotating disc 24, the rotating component 23 is started to drive the workpiece placed on the rotating disc 24 to rotate, the first lifting component 14 and the up-down sliding component 15 are started in sequence 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, drives the rotating shaft 11 to rotate, drives the rotating plate 7 to rotate through the connecting mechanism, so that the three-dimensional camera 6 rotates around the workpiece to take pictures, then the clamping jaw clamps the workpiece, then the workpiece is adjusted by the overturning unit and continues to be taken pictures; after the taking pictures is completed, the three-dimensional camera 6 is placed in the placing shell by the transverse moving component 5, so as to make room for cutting; finally, the information taken is sent to the control panel 4, a three-dimensional model is calculated and analyzed, then a cutting track is planned, and the 3D laser cutting mechanical arm 2 is started to cut the workpiece; after the cutting is completed, the clamping jaw continues to clamp the workpiece, then the placing disc 21 is lowered into the placing groove 22 by the second lifting component 20, so that the height of the placing disc 21 is lowered, and the workpiece is clamped above the placing disc 21, thereby facilitating the pushing out of the waste; the discharging component 25 is started to drive the discharging plate 26 to move, and the cut waste is pushed into the chute 28 and slides to the collecting box 27 for unified treatment; through the above structure, the workpiece can be taken pictures in all directions, the model can be effectively analyzed, the workpiece can be overturned, the situation of dead angle is avoided, and the cutting precision is effectively improved.

[0041] The above only discloses one or more preferred embodiments of the application, and cannot limit the scope of the application. Those skilled in the art can understand that all or part of the above-mentioned processes can be implemented, and equivalent changes made according to the claims of the application still belong to the scope covered by the application.

Claims

1. A 3D laser cutting system based on three-dimensional machine vision, comprising a base, a 3D laser cutting mechanical arm, a placing shell, a control panel, a transverse moving part and two three-dimensional cameras, the 3D laser cutting mechanical arm is arranged above the base, the placing shell is arranged on one side of the 3D laser cutting mechanical arm, the control panel is arranged on one side of the placing shell, the transverse moving part is arranged inside the placing shell, and two three-dimensional cameras are symmetrically distributed below the transverse moving part, characterized in that it further comprises an adjusting assembly; The adjusting assembly comprises a rotating plate, two clamping jaws and two turnover units, the rotating plate is arranged below the transverse moving part, the two turnover units are symmetrically arranged above the base, and the two clamping jaws are respectively arranged on the corresponding turnover units; The adjusting assembly further comprises a driving unit, and the driving unit is arranged on the transverse moving part; The driving unit comprises a support plate, a driving part, a gear ring, a rotating shaft and a connecting mechanism, the support plate is arranged at the output end of the transverse moving part, the driving part is arranged below the support plate, the rotating shaft is rotatably connected with the support plate and located below the support plate, the gear ring is sleeved outside the rotating shaft, the gear ring and the driving part are matched with each other, and the rotating shaft is connected with the rotating plate through the connecting mechanism; The connecting mechanism comprises a plurality of connecting rods and a rotating cover, both ends of the plurality of connecting rods are fixedly connected with the upper side of the rotating plate and the lower side of the rotating shaft respectively, one end of the rotating cover is fixedly connected with the upper side of the rotating plate, the other end of the rotating cover is rotatably connected with the lower side of the support plate, and the rotating cover is sleeved outside the driving part and the rotating shaft; The adjusting assembly further comprises two camera lifting units, and the two camera lifting units are symmetrically arranged below the rotating plate; The camera lifting unit comprises a first lifting part and an up-down sliding part, the first lifting part is arranged below the rotating plate, the up-down sliding part is arranged at the output end of the first lifting part, and the three-dimensional camera is arranged at the output end of the up-down sliding part; The adjusting assembly further comprises a workpiece lifting unit, and the workpiece lifting unit is arranged on the base; The workpiece lifting unit comprises a plurality of second lifting parts, a placing disc and a rotating mechanism, the plurality of second lifting parts are arranged below the base, the output end of the second lifting part penetrates through the base and is fixedly connected with the placing disc, the rotating mechanism is arranged on the placing disc, the base has a placing groove, and the placing disc and the placing groove are matched with each other; The rotating mechanism comprises a rotating part and a rotating disc, the rotating disc is rotatably connected with the placing disc, the rotating part is arranged below the placing disc, the output end of the rotating part penetrates through the placing disc and is fixedly connected with the rotating disc; The adjusting assembly further comprises a discharging unit, and the discharging unit is arranged above the base; ​ The discharge unit comprises a discharge component, a discharge plate and a collection box, the base further has a chute, the discharge component is arranged above the base and located at one side of the placing disc, the discharge plate is arranged at the output end of the discharge component, and the collection box is arranged below the chute; The workpiece is placed on the rotating disc, the rotating component is started to drive the workpiece placed on the rotating disc to rotate by an angle, and the first lifting component and the up-down sliding component are started in sequence to adjust the height, so that the three-dimensional camera is located on both sides of the workpiece; at this time, the driving component drives the gear ring to rotate, drives the rotating shaft to rotate, and drives the rotating plate to rotate through the connecting mechanism, so that the three-dimensional camera rotates around the workpiece to take pictures, then the clamping claw clamps the workpiece, then relies on the turnover unit to adjust the turnover, and continues to take pictures; after the shooting is completed, the three-dimensional camera is placed in the placing shell through the transverse moving component, so as to leave space for cutting; finally, the information taken is sent to the control panel, a three-dimensional model is calculated and analyzed, then a cutting track is planned, and the 3D laser cutting mechanical arm is started to cut the workpiece; when the cutting is completed, the clamping claw continues to clamp the workpiece, then the second lifting component drives the placing disc to move downward into the placing groove, so that the height of the placing disc is lowered, and the workpiece is clamped above the placing disc, thereby facilitating the pushing out of waste; the discharge component is started to drive the discharge plate to move, and the cut waste is pushed into the chute and slides into the collection box for unified treatment. 2.The 3D laser cutting system based on three-dimensional machine vision of claim 1, wherein The turnover unit comprises a turnover component and a pushing component, the turnover component is arranged above the base, and the pushing component is arranged at the output end of the turnover component, and the output end of the pushing component is provided with the clamping claw. 3.The 3D laser cutting system based on three-dimensional machine vision of claim 2, wherein The clamping claw comprises a plurality of abutting blocks and a plurality of convex blocks, the plurality of abutting blocks are sequentially and circumferentially distributed at the output end of the pushing component, and the plurality of convex blocks are respectively arranged outside the corresponding abutting blocks.

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