Machining center and probe positioning method for machining center

Abstract

The invention discloses a machining center and a probe positioning method for the machining center, and belongs to the field of machining center equipment.A photographing mechanism 4 and a probe mechanism 5 are additionally arranged, and the probe mechanism 5 is adopted to calibrate the real coordinate point of a to-be-machined plate, so that the actual coordinate of the to-be-machined plate can be rapidly and accurately obtained, and the machining accuracy is improved. The technical problems in the prior art can be solved. According to the probe positioning method for the machining center, after a shot picture is obtained, image processing is carried out on the shot picture, and a shot contour diagram of a to-be-machined plate is obtained; marking at least three calibration points on the photographing contour map according to a first set rule; controlling the probe to reach the calibration point according to a second set rule to obtain a real coordinate point; and finally, according to a calibration rule, the calibration point and the real coordinate point, the shot picture is calibrated, a calibration picture is obtained, and machining can be conducted according to the coordinates of the to-be-machined plate on the calibration picture.

Description

Technical Field

[0001] The invention relates to the field of machining centers, and in particular to a machining center and a probe positioning method for the machining center. Background Art

[0002] The processing of plates, such as stone slabs, is mostly carried out using machining centers, such as drilling and carving.

[0003] The plate processing must first be positioned. There are two commonly used positioning methods in the existing technology: one is manual positioning, that is, placing the plate on the processing platform, manually measuring the coordinate position, and then inputting it into the control cabinet of the processing center for processing. This method has the defects of troublesome positioning and low efficiency; the other is positioning by taking pictures, but due to the error of camera shooting, the positioning is not accurate enough, which will affect the processing accuracy of the plate.

[0004] Therefore, in view of the above situation, how to improve the existing processing methods or processing equipment to solve the above problems has become an important technical problem that needs to be solved urgently by technical personnel in this field. Summary of the invention

[0005] The present invention discloses a machining center and a probe positioning method for the machining center. By adding a camera mechanism 4 and a probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the actual coordinates of the plate to be processed can be obtained quickly and accurately, and the technical problems existing in the prior art can be solved.

[0006] The machining center provided by the present invention comprises a working platform 1, a machining center tool head mechanism 2 and a control mechanism 3, and also comprises: a camera mechanism 4 and a probe mechanism 5, wherein the coordinates of a probe 51 of the probe mechanism 5 can be acquired in real time.

[0007] Preferably,

[0008] The machining center tool head mechanism 2 comprises a crossbeam 21, a lifting beam 22 and a machining center tool head 23, wherein the crossbeam 21 is mounted on the frame 6 of the machining center, the lifting beam 22 is mounted on the crossbeam 21, and the machining center tool head 23 is mounted on the lifting beam 22;

[0009] The camera mechanism 4 is mounted on the frame 6 , and the probe mechanism 5 is mounted on the lifting beam 22 .

[0010] Preferably,

[0011] The probe mechanism 5 includes a probe 51 and a control cylinder 52;

[0012] The cylinder body of the control cylinder 52 is fixedly arranged, and the piston rod thereof is connected to the probe 51 .

[0013] Preferably,

[0014] The probe 51 can be resettably deflected in multiple directions relative to the piston rod, and the control mechanism 3 can obtain the deflection state and real-time coordinates of the probe 51 .

[0015] The present invention also discloses a probe positioning method for a machining center, which is used for the above-mentioned machining center and comprises:

[0016] S1. After placing the plate to be processed on the working platform, control the camera mechanism to take a photo of the plate to be processed to obtain a photo, wherein the photo contains coordinate information;

[0017] S2, performing image processing on the photographed photo to obtain a photographed contour image of the plate to be processed;

[0018] S3. Mark at least three calibration points on the photographed profile map according to a first setting rule;

[0019] S4, controlling the probe to reach the calibration point according to a second setting rule to obtain a real coordinate point;

[0020] S5. Calibrate the photographed photo according to the calibration rule, the calibration point and the real coordinate point to obtain a calibration photo, and then process the plate to be processed according to the coordinates of the plate to be processed on the calibration photo.

[0021] Preferably,

[0022] The first setting rule includes:

[0023] At least three calibration points are not in a straight line.

[0024] Preferably,

[0025] The step S3 comprises:

[0026] If the top view of the plate to be processed is a regular N-gon, a calibration point is marked on each edge of the photographed contour map, and at least one edge is marked with two or more calibration points.

[0027] Preferably,

[0028] The step S4 comprises:

[0029] Controlling the probe to quickly reach the calibration point range until it hits the plate to be processed;

[0030] The probe is controlled to slowly return to the calibration point, at which time the coordinate point of the probe is the real coordinate point of the plate to be processed at the calibration point.

[0031] Preferably,

[0032] The step S5 comprises:

[0033] The error ratio between the photographed contour image and the actual contour image of the plate to be processed is calculated according to the calibration points and the real coordinate points, and the photographed photo is calibrated according to the error ratio to obtain a calibrated photo.

[0034] Preferably,

[0035] After step S5, the following steps are also included:

[0036] The error ratio is stored, and a plurality of the error ratios are calculated according to a third setting rule to obtain a calculation result, and the calculation result is used as a standard error ratio;

[0037] When the probe mechanism fails to work, the photographs are calibrated according to a standard error ratio.

[0038] The probe positioning method for a machining center of the present invention comprises: firstly, after placing a plate to be processed on a work platform, controlling a camera mechanism to take a photo of the plate to be processed to obtain a photograph, wherein the photograph contains coordinate information; then performing image processing on the photograph to obtain a photographic contour map of the plate to be processed; then marking at least three calibration points on the photographic contour map according to a first setting rule; then controlling the probe to reach the calibration points according to a second setting rule to obtain real coordinate points; finally, calibrating the photograph according to the calibration rule, the calibration points and the real coordinate points to obtain a calibration photo, and then processing can be performed according to the coordinates of the plate to be processed on the calibration photo. By adding a camera mechanism 4 and a probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the machining center of the present invention and the probe positioning method for the machining center can quickly and accurately obtain the actual coordinates of the plate to be processed, and can solve the technical problems existing in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 It is a structural schematic diagram of an embodiment of a machining center of the present invention;

[0041] Figure 2 A flow chart of an embodiment of a probe positioning method for a machining center according to the present invention;

[0042] Figure 3A schematic diagram of the distribution of calibration points 002 in one embodiment of the probe positioning method for a machining center of the present invention;

[0043] Figure 4 A flow chart of another embodiment of the probe positioning method for a machining center according to the present invention;

[0044] The plate to be processed is 001 and the calibration point is 002. DETAILED DESCRIPTION

[0045] The present invention discloses a machining center and a probe positioning method for the machining center. By adding a camera mechanism 4 and a probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the actual coordinates of the plate to be processed can be obtained quickly and accurately, and the technical problems existing in the prior art can be solved.

[0046] The following is a clear and detailed description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Please refer to Figure 1 , is a machining center of the present invention, including a working platform 1, a machining center tool head mechanism 2 and a control mechanism 3, and also includes: a camera mechanism 4 and a probe mechanism 5, wherein the coordinates of the probe 51 of the probe mechanism 5 can be obtained in real time.

[0047] In the embodiment of the present invention, the camera mechanism 4 can be installed on a movable platform and then automatically adjust the shooting position, or it can be fixedly set. After the plate to be processed is placed on the working platform 1, the camera mechanism 4 can be started and the shooting area on the working platform 1 can be photographed; at this time, an uncorrected photo can be obtained, and the coordinates of the shooting area are all known, so the photo contains coordinate information. By analyzing the photo, the coordinate information of the plate to be processed before correction can be obtained; then the probe mechanism 5 is started, and the probe 51 is continuously moved to close contact with the edge of the plate to be processed, so that the actual coordinates of a certain position of the plate to be processed can be obtained, and the actual coordinates of multiple positions can be analyzed to correct the photo. The coordinate information of the plate to be processed on the corrected photo can be identified as the actual coordinates of the plate to be processed. It should be pointed out that the coordinates of the probe 51 of the probe mechanism 5 can be obtained in real time, because the probe 51 moves according to the coordinate information sent by the control mechanism 3.

[0048] Preferably,

[0049] The machining center tool head mechanism 2 comprises a crossbeam 21, a lifting beam 22 and a machining center tool head 23, wherein the crossbeam 21 is mounted on the frame 6 of the machining center, the lifting beam 22 is mounted on the crossbeam 21, and the machining center tool head 23 is mounted on the lifting beam 22;

[0050] The camera mechanism 4 is mounted on the frame 6 , and the probe mechanism 5 is mounted on the lifting beam 22 .

[0051] Preferably,

[0052] The probe mechanism 5 includes a probe 51 and a control cylinder 52;

[0053] The cylinder body of the control cylinder 52 is fixedly arranged, and the piston rod thereof is connected to the probe 51 .

[0054] It should be noted that the probe mechanism 5 is installed on the lifting beam 22. When the calibration process is not needed, the control cylinder 52 controls the piston rod to retract, and the probe 51 will not affect the normal operation of the machining center tool head 23. When the calibration process is needed, the control cylinder 52 controls the piston rod to extend, and the probe 51 can realize three-axis movement and continuously stick to the plate to be processed to obtain the real coordinate point data.

[0055] Preferably,

[0056] The probe 51 can be resettably deflected in multiple directions relative to the piston rod, and the control mechanism 3 can obtain the deflection state and real-time coordinates of the probe 51 .

[0057] It should be noted that the probe 51 can be resettable in multiple directions relative to the piston rod, which can improve the efficiency of the probe 51 approaching the plate to be processed; the probe 51 first approaches the plate to be processed at high speed until it hits the plate to be processed, and then retreats until the probe 51 resets to close to the plate to be processed. At this time, the coordinates of the probe 51 are the real coordinates of the point where the plate to be processed contacts the probe 51. In addition, a sensor can be set between the piston rod and the probe 51 to sense the offset state of the probe 51, which is not limited here.

[0058] The machining center of the present invention comprises a working platform 1, a machining center tool head mechanism 2 and a control mechanism 3, and also comprises: a camera mechanism 4 and a probe mechanism 5, wherein the coordinates of a probe 51 of the probe mechanism 5 can be acquired in real time. By adding the camera mechanism 4 and the probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the machining center of the present invention can quickly and accurately obtain the actual coordinates of the plate to be processed, and can solve the technical problems existing in the prior art.

[0059] The above describes the embodiment of the machining center of the present invention, in which the structure and working mode of the probe mechanism 5 are mainly described. The following describes the embodiment of the probe positioning method for the machining center of the present invention. Figure 2 and Figure 3 The probe positioning method for a machining center of the present invention is used for the above-mentioned machining center, comprising:

[0060] S1. After placing the plate to be processed on the working platform, control the camera mechanism to take a photo of the plate to be processed to obtain a photo, wherein the photo contains coordinate information;

[0061] It should be noted that after the plate to be processed is placed on the work platform, the camera mechanism can be started and the shooting area on the work platform can be photographed; at this time, the photographed photos can be obtained, and the coordinates of the shooting area are known, so the photographed photos contain coordinate information.

[0062] According to actual conditions, the camera mechanism may be moved and controlled before taking photos, and then photo calibration may be performed again. The results of multiple calibrations may be comprehensively considered to obtain a calibration photo with the smallest error, which is not limited here.

[0063] S2, performing image processing on the photographed photo to obtain a photographed contour image of the plate to be processed;

[0064] The photographed photo is obtained, and image processing can be performed on the photographed photo to obtain a photographed contour image of the plate to be processed. Figure 3 As shown, for example, if the top view is a rectangular plate to be processed, then the photographed contour image is a rectangle. The above-mentioned image processing can be edge re-identification processing, which is not limited here.

[0065] S3. Mark at least three calibration points on the photographed profile map according to a first setting rule;

[0066] After obtaining the photographic profile, at least three calibration points can be marked on the photographic profile for subsequent processing. Figure 3 As shown, 5 calibration points are selected in the rectangular contour diagram. The more calibration points there are, the better the calibration effect will be. However, the calibration time will increase accordingly, so a trade-off needs to be made in actual use.

[0067] Generally speaking, the plates to be processed are relatively regular polygons, and there are also curved shapes. The first setting rule mentioned above can be: at least three calibration points are not on the same straight line. If the calibration points are all on a straight line, then there may be a situation where only one side is calibrated, and the calibration ratio cannot be obtained at this time.

[0068] The first setting rule may specifically be: if the top view of the plate to be processed is a regular N-gon, then a calibration point is marked on each edge of the photographed contour map, and at least one edge is marked with two or more calibration points. Figure 3 As shown, this is the solution adopted.

[0069] S4, controlling the probe to reach the calibration point according to a second setting rule to obtain a real coordinate point;

[0070] According to the coordinates of the calibration points, the mobile probe reaches different calibration points respectively. For example, the contour map can be photographed clockwise to reach different calibration points in turn. At this time, the real coordinate points at different calibration points can be obtained.

[0071] Specifically, the probe can be controlled to quickly reach the calibration point range until it hits the plate to be processed; then the probe can be controlled to slowly return to the calibration point, at which time the coordinate point of the probe is the real coordinate point of the plate to be processed at the calibration point.

[0072] S5. Calibrate the photographed photo according to the calibration rule, the calibration point and the real coordinate point to obtain a calibration photo, and then process the plate to be processed according to the coordinates of the plate to be processed on the calibration photo.

[0073] According to the difference between the calibration point and the real coordinate point, the proportion of the photograph that needs to be calibrated can be calculated, and the photograph can be calibrated according to the proportion to obtain a calibrated photo. At this time, the coordinates of the plate to be processed on the calibration photo can be considered as the real coordinates of the plate to be processed; the plate to be processed can be processed according to the coordinates of the plate to be processed on the calibration photo.

[0074] The calibration rule may specifically be: calculating the error ratio between the photographed contour image and the actual contour image of the plate to be processed according to the calibration point and the real coordinate point, calibrating the photographed photo according to the error ratio, and obtaining a calibration photo.

[0075] The probe positioning method for a machining center of the present invention comprises: firstly, after placing a plate to be processed on a work platform, controlling a camera mechanism to take a photo of the plate to be processed to obtain a photograph, wherein the photograph contains coordinate information; then performing image processing on the photograph to obtain a photographic contour map of the plate to be processed; then marking at least three calibration points on the photographic contour map according to a first setting rule; then controlling the probe to reach the calibration points according to a second setting rule to obtain real coordinate points; finally, calibrating the photograph according to the calibration rule, the calibration points and the real coordinate points to obtain a calibration photo, and then processing can be performed according to the coordinates of the plate to be processed on the calibration photo. By adding a camera mechanism 4 and a probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the machining center of the present invention and the probe positioning method for the machining center can quickly and accurately obtain the actual coordinates of the plate to be processed, and can solve the technical problems existing in the prior art.

[0076] The above describes an embodiment of the probe positioning method for a machining center according to the present invention. The following describes another embodiment of the probe positioning method for a machining center according to the present invention. Figure 4 The probe positioning method for a machining center of the present invention is used for the above-mentioned machining center, comprising:

[0077] A1. After placing the plate to be processed on the working platform, control the camera mechanism to take a photo of the plate to be processed to obtain a photo, wherein the photo contains coordinate information;

[0078] A2. Performing image processing on the photographed photo to obtain a photographed contour image of the plate to be processed;

[0079] A3. According to the first setting rule, mark at least three calibration points on the photographed profile map;

[0080] A4, controlling the probe to reach the calibration point according to the second setting rule to obtain the real coordinate point;

[0081] A5. Calibrate the photographed photo according to the calibration rule, the calibration point and the real coordinate point to obtain a calibration photo, and then process the plate to be processed according to the coordinates of the plate to be processed on the calibration photo;

[0082] A6. storing the error ratio, calculating a plurality of the error ratios according to a third setting rule to obtain a calculation result, and using the calculation result as a standard error ratio;

[0083] It should be noted that the error ratio can be used as the data source of the error model. By training the error model with big data, the estimated value of the error ratio can be obtained, that is, the calculation result, and the calculation result can be used as the standard error ratio.

[0084] A7. When the probe mechanism fails to work, the photographs are calibrated according to the standard error ratio.

[0085] When the probe mechanism fails to work, the standard error ratio can be directly used as a parameter for calibrating the photographs, and the photographs can be calibrated directly without performing various calibration steps, which is not limited here.

[0086] The probe positioning method for a machining center of the present invention comprises: firstly, after placing a plate to be processed on a work platform, controlling a camera mechanism to take a photo of the plate to be processed to obtain a photograph, wherein the photograph contains coordinate information; then performing image processing on the photograph to obtain a photographic contour map of the plate to be processed; then marking at least three calibration points on the photographic contour map according to a first setting rule; then controlling the probe to reach the calibration points according to a second setting rule to obtain real coordinate points; finally, calibrating the photograph according to the calibration rule, the calibration points and the real coordinate points to obtain a calibration photo, and then processing can be performed according to the coordinates of the plate to be processed on the calibration photo. By adding a camera mechanism 4 and a probe mechanism 5, and using the probe mechanism 5 to calibrate the real coordinate points of the plate to be processed, the machining center of the present invention and the probe positioning method for the machining center can quickly and accurately obtain the actual coordinates of the plate to be processed, and can solve the technical problems existing in the prior art.

[0087] The above is a detailed introduction to the machining center and the probe positioning method for the machining center provided by the present invention. For a general technician in this field, according to the ideas of the embodiments of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A machining center, comprising a working platform (1), a machining center tool head mechanism (2) and a control mechanism (3), characterized in that: Also includes: The camera mechanism (4) and the probe mechanism (5) are used, wherein the coordinates of the probe (51) of the probe mechanism (5) can be acquired in real time.

2. The machining center according to claim 1, characterized in that: The machining center tool head mechanism (2) comprises a crossbeam (21), a lifting beam (22) and a machining center tool head (23), wherein the crossbeam (21) is mounted on a frame (6) of the machining center, the lifting beam (22) is mounted on the crossbeam (21), and the machining center tool head (23) is mounted on the lifting beam (22); The camera mechanism (4) is installed on the frame (6), and the probe mechanism (5) is installed on the lifting beam (22).

3. The machining center according to claim 1 or 2, characterized in that: The probe mechanism (5) comprises a probe (51) and a control cylinder (52); The cylinder body of the control cylinder (52) is fixedly arranged, and the piston rod thereof is connected to the probe (51).

4. The machining center according to claim 3, characterized in that: The probe (51) can be resettably deflected in multiple directions relative to the piston rod, and the control mechanism (3) can obtain the deflection state and real-time coordinates of the probe (51).

5. A probe positioning method for a machining center, used for the machining center according to any one of claims 1 to 4, characterized in that: include: S1. After placing the plate to be processed on the working platform, control the camera mechanism to take a photo of the plate to be processed to obtain a photo, wherein the photo contains coordinate information; S2, performing image processing on the photographed photo to obtain a photographed contour image of the plate to be processed; S3. Mark at least three calibration points on the photographed profile map according to a first setting rule; S4, controlling the probe to reach the calibration point according to a second setting rule to obtain a real coordinate point; S5. Calibrate the photographed photo according to the calibration rule, the calibration point and the real coordinate point to obtain a calibration photo, and then process the plate to be processed according to the coordinates of the plate to be processed on the calibration photo.

6. The probe positioning method for a machining center according to claim 5, characterized in that: The first setting rule includes: At least three calibration points are not in a straight line.

7. The probe positioning method for a machining center according to claim 5, characterized in that: The step S3 comprises: If the top view of the plate to be processed is a regular N-gon, a calibration point is marked on each edge of the photographed contour map, and at least one edge is marked with two or more calibration points.

8. The probe positioning method for a machining center according to claim 5, characterized in that: The step S4 comprises: Controlling the probe to quickly reach the calibration point range until it hits the plate to be processed; The probe is controlled to slowly return to the calibration point, at which time the coordinate point of the probe is the real coordinate point of the plate to be processed at the calibration point.

9. The probe positioning method for a machining center according to any one of claims 5 to 8, characterized in that: The step S5 comprises: The error ratio between the photographed contour image and the actual contour image of the plate to be processed is calculated according to the calibration points and the real coordinate points, and the photographed photo is calibrated according to the error ratio to obtain a calibrated photo.

10. The probe positioning method for a machining center according to claim 9, characterized in that: After step S5, the following steps are also included: The error ratio is stored, and a plurality of the error ratios are calculated according to a third setting rule to obtain a calculation result, and the calculation result is used as a standard error ratio; When the probe mechanism fails to work, the photographs are calibrated according to a standard error ratio.

Images