Material-saving cutting track planning method for machining concave surface area of three-dimensional stone

Abstract

According to the material-saving cutting track planning method for machining the concave surface area of the three-dimensional stone, an industrial robot is adopted to carry a circular saw blade to machine the stone, the three-dimensional ideal cutting range is constructed by fitting the inscribed circle of the upper surface contour of the concave surface and combining the depth of the concave surface, the cuttable area is maximized, and material waste is reduced; the method specifically comprises the following steps that firstly, the cuttable range of the circular saw blade is constructed; step 2, fitting the overall contour of the concave surface based on a concave surface fitting algorithm of the maximum cutting range of the circular saw blade; and 3, cutting track planning is conducted, specifically, a proper cutting path is selected on the fitted concave surface, and a multi-cutter machining technology is adopted to form whole-block saw cutting that multiple cutters converge to one point.

Description

Technical Field

[0001] The present invention belongs to the field of stone processing, and in particular relates to a material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone. Background Art

[0002] Currently, diamond wire saws are primarily used for rough stone processing. While wire saws are effective in most cases, they have limited cutting capabilities when working with complex geometries or large depressions, making it difficult to reach these areas. This not only limits the effective processing of these depressions but also reduces the efficiency of the entire rough processing phase, slowing down the overall stone processing process. In contrast, circular saw blades exhibit greater adaptability during stone processing, particularly when working with depressions within models, allowing them to penetrate deeper into these areas. Furthermore, their higher cutting and feed speeds significantly improve their efficiency in stone processing. Therefore, using industrial robots to carry circular saw blades for rough stone processing, especially in complex concave areas, will significantly improve processing efficiency and complement the shortcomings of traditional wire saws. Summary of the Invention

[0003] The main technical problem to be solved by the present invention is to provide a material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone. An industrial robot carrying a circular saw blade is used for stone processing. By fitting the inscribed circle of the upper surface contour of the concave surface and combining the depth of the concave surface, a three-dimensional ideal cutting range is constructed to maximize the cuttable area, reduce material waste, and achieve efficient cutting trajectory planning.

[0004] In order to solve the above technical problems, the present invention provides a material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone, comprising the following steps:

[0005] Step 1: Construct the cutting range of the circular saw blade as follows:

[0006] The cutting length L of the circular saw blade is set, and the cutting range of the circular saw blade at different angles is constructed using MATLAB software to obtain the maximum cutting range of the circular saw blade at different angles. The maximum cutting range includes the cutting depth H and the cutting section radius R of the circular saw blade.

[0007] Step 2: Based on the concave surface fitting algorithm of the maximum cutting range of the circular saw blade, fit the overall contour of the concave surface as follows:

[0008] A. Concave surface feature identification and extraction: Import the 3D stone model into the 3D software, identify the geometric features of the concave area, and extract the geometric feature data of the concave area, including the contour boundary and depth of the concave surface;

[0009] B. Inscribed circle generation and maximum cutting range construction: Generate a maximum inscribed circle within the concave surface contour; Based on the radius r of the circular saw blade and the concave depth h, combined with the cutting depth L of the circular saw blade, obtain the cutting depth H corresponding to the cutting range under the radius r r , and the cutting range of the circular saw blade corresponding to the cutting section radius R under the concave depth h h ;

[0010] C. Set the cutting range of different depths h of the concave surface and construct an ideal three-dimensional cutting range;

[0011] Step 3: Cutting trajectory planning: Based on the ideal three-dimensional cutting range, select the appropriate cutting path on the fitted concave surface, and use multi-tool processing technology to form a whole-piece sawing process where multiple tools converge to one point.

[0012] In a preferred embodiment, the cutting length L of the circular saw blade is the maximum length that the circular saw blade can cut deeply.

[0013] In a preferred embodiment, the three-dimensional software includes a CAD or CAM system.

[0014] In a preferred embodiment, in step one, the cutting range of the circular saw blade at different angles is: since the cross-section of the cutting range of the circular saw blade is circular, different cutting depths H and the cross-sectional radius R of the cutting range at the corresponding angles are obtained when cutting at different angles.

[0015] In a preferred embodiment, in step 2,

[0016]

[0017] In a preferred embodiment, in step 2, the cutting range of the concave surface with different depths h is set as follows:

[0018] When h<H r When the radius is R h Fitting the cutting range;

[0019] When H r When <h<L, select a radius between R h Fitting the cutting range between R;

[0020] When h>L, select radius R max The cutting range is fitted, R max The radius value that maximizes the cutting range in the current state.

[0021] In a preferred embodiment, in step 3, selecting a suitable cutting path includes:

[0022] Let the intersection of the circular saw blade and the inscribed circle on the concave surface be L n , single transversal line L n Corresponding to the cutting path of the circular saw blade at a specific position; select multiple cut lines L that intersect in sequence and are connected head to tail n A continuous path is formed as a sawing trajectory for multi-knife whole-piece sawing.

[0023] In a preferred embodiment, in step three, n≥3.

[0024] In a preferred embodiment, in step three, the cutting trajectory planning includes planning the cutting trajectory in combination with the motion parameters of the industrial robot and the cutting range of the circular saw blade.

[0025] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0026] 1. The present invention provides a material-saving cutting trajectory planning method for rough machining concave areas of three-dimensional stone using a circular saw on a robot. First, the concave area is fitted using a concave fitting method based on maximizing the cuttable range. This method first imports a stone model through three-dimensional software, identifies and extracts concave features, and then performs inscribed circle fitting on the upper surface contour of the concave area. The ideal maximum cutting range is constructed by combining the relationship between the inscribed circle radius and the concave depth. This algorithm enables efficient machining trajectory planning within the maximum ideal cutting range while avoiding interference. A suitable trajectory is then selected within the fitted cutting range to achieve material-saving machining of the concave area.

[0027] 2. This invention provides a material-saving cutting path planning method for processing concave areas of three-dimensional stone. By optimizing cutting path planning, the cutting range of the concave area is maximized. Within the maximum cutting range, multi-cutting block removal is achieved on the concave portion while reducing material waste. The cutting path planning aims to maximize the use of stone materials, reduce material waste, and improve processing efficiency. While ensuring processing accuracy, it optimizes the material utilization rate of the concave area and significantly improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a flow chart of the concave surface fitting algorithm based on maximizing the cuttable range proposed by the present invention;

[0029] Figure 2 The maximum cutting range of the circular saw blade (the cutting volume of the circular saw blade in different angle ranges) proposed by the present invention is constructed into a diagram;

[0030] Figure 3 The present invention proposes a concave area cuttable range fitting result construction diagram;

[0031] Figure 4A schematic diagram of the cutting process of the circular saw blade multi-cutting processing method proposed in the present invention;

[0032] Figure 5 This is a schematic diagram of the circular saw blade multi-tool processing method proposed in the present invention completing the sawing of a whole piece;

[0033] Figure 6 This is a schematic diagram of setting the cutting range of different depths of the concave surface proposed by the present invention.

[0034] Explanation of the accompanying symbols: 1. Maximum inscribed circle; 2. Cutting range; 3. Circular saw blade; 4. Sawing direction; 5. Stone blank; 6. Knife mark; 7. Block-shaped excavation. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connection" can be a wall-mounted connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be a direct connection or an indirect connection through an intermediate medium. It can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] refer to Figure 1-Figure 5, this embodiment provides a material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone, especially a material-saving cutting trajectory planning method for rough processing of concave areas of three-dimensional stone by a circular saw on a robot. First, the concave area is fitted using a concave fitting method based on maximizing the cuttable range. This method first imports a stone model through three-dimensional software, identifies and extracts concave features, and then performs inscribed circle fitting on the upper surface contour of the concave area, and constructs an ideal maximum cutting range based on the relationship between the inscribed circle radius and the concave depth. Through this algorithm, efficient processing trajectory planning can be performed within the maximum ideal cutting range, and interference can be avoided. Then, a suitable trajectory is selected within the fitted cutting range to achieve material-saving processing of the concave area. By optimizing the cutting trajectory planning, the cuttable range of the concave area is maximized. Within the maximum cutting range, block removal of the concave part by multi-knife cutting is achieved, while reducing material waste.

[0039] This embodiment specifically adopts the following technical solutions:

[0040] like Figure 1 A material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone materials comprises the following steps:

[0041] Step 1: Construct the cutting range of the circular saw blade as follows:

[0042] The cutting length L of the circular saw blade is set (the cutting length L of the circular saw blade is the maximum length that the circular saw blade can cut deeply), and the cutting range of the circular saw blade at different angles is constructed by MATLAB (Matrix Laboratory) software to obtain the maximum cutting range of the circular saw blade at different angles (such as Figure 2 ), the maximum cutting range includes the cutting depth H and the cutting cross-sectional radius R of the circular saw blade; wherein, the cutting range of the circular saw blade at different angles is: according to the cross section of the cutting range of the circular saw blade is a circle, different cutting depths H and the cross-sectional radius R of the cutting range at the corresponding angles are obtained at different cutting angles (such as Figure 4 , schematic diagram of the sawing direction 4 of the circular saw blade 3 at different angles).

[0043] For example, when cutting a cylindrical stone, if the circular saw blade is cut perpendicular to the axis of the cylinder, then at any depth H, the cross-section of the cutting range is a circle with a radius equal to the radius of the cylinder. However, if the circular saw blade is tilted at a certain angle for cutting, then at different depths H, the cross-section of the cutting range is still a circle, but its radius R will change with the change of cutting depth and angle.

[0044] Step 2: Based on the concave surface fitting algorithm of the maximum cutting range of the circular saw blade, fit the overall contour of the concave surface and generate the ideal three-dimensional cutting area based on the concave surface depth. The details are as follows:

[0045] A. Concave surface feature identification and extraction: Import the 3D stone model into 3D software, identify the geometric features of the concave area, and extract the geometric feature data of the concave area, including the contour boundary and depth of the concave surface; wherein the 3D software includes one of a CAD (Computer-Aided Design) system and a CAM (Computer-Aided Manufacturing) system;

[0046] B. Inscribed circle generation and construction of maximum cutting range: Generate a maximum inscribed circle within the surface contour of the concave surface and construct an ideal maximum inscribed circle 1 (such as Figure 3 ); On the cross section of the maximum inscribed circle 1, according to the radius r and the concave depth h of the circular saw blade, combined with the cutting depth L of the circular saw blade, the cutting range corresponding to the cutting depth H under the radius r is obtained r , and the cutting range of the circular saw blade corresponding to the cutting section radius R under the concave depth h h , and discuss different cases of concave surfaces; e.g. Figure 6 , cutting depth H r :According to the radius r of the circular saw blade, determine the cutting depth at that radius. The formula is Circular saw blade cutting section radius R h :According to the depth h of the concave surface, determine the cutting range radius at that depth. The formula is Among them, L represents the maximum length that the saw blade can penetrate, which is only related to the saw blade radius r.

[0047] C. Set the cutting range of different depths h of the concave surface and construct an ideal three-dimensional cutting range 2 (such as Figure 3 ), ensuring that the material within this range can be cut to the maximum extent;

[0048] The cutting range of concave surfaces with different depths h is set as follows:

[0049] When h<H r When the radius is R h Fitting the cutting range;

[0050] When H r When <h<L, select a radius between R h Fitting the cutting range between R;

[0051] When h>L, select radius R max The cutting range is fitted, R max The radius value that maximizes the cutting range in the current state.

[0052] Step 3: Cutting trajectory planning to avoid interference and achieve cutting of the maximum processable area: According to the ideal three-dimensional cuttable range constructed, select the appropriate cutting path on the fitted concave surface, use multi-tool processing technology to form a whole block sawing with multiple tools converging to one point, and after the whole block sawing, form a block cut 7 for removal (such as Figure 5 ), using multi-tool machining technology, by selecting the appropriate machining path within the ideal concave area of the fit, multiple cutting paths gradually converge to the center of the concave surface, achieving efficient material removal, reducing machining time and improving efficiency.

[0053] In step three, selecting the appropriate cutting path includes:

[0054] According to the ideal three-dimensional cutting range, the cutting trajectory is planned. In the ideal three-dimensional cutting range, the intersection line of the circular saw blade and the inscribed circle on the concave surface is set as L. n , single transversal line L n Corresponding to the cutting path of the circular saw blade at a specific position; select multiple cut lines L that intersect in sequence and are connected head to tail n (Multiple intercepts L n Divided into L1, L2, L3..., where n ≥ 3) for multi-tool sawing of the entire piece. Figure 4 On the stone blank 5, according to the sequentially intersecting and end-to-end connected cross-sections L n The corresponding sawing track is used for whole-block sawing to form a knife mark 6, and a block-shaped resection 7 is formed after the whole-block sawing, so that the concave area can be sawed by multiple knives in the whole block.

[0055] In step three, cutting trajectory planning includes combining the motion parameters of the industrial robot and the cutting range of the circular saw blade to ensure that interference between the tool and the stone is avoided.

[0056] Cutting path planning aims to maximize stone material utilization, minimize material waste, and improve processing efficiency. While ensuring machining accuracy, it optimizes material utilization in concave areas, significantly improving production efficiency. By optimizing cutting paths, the system achieves material-saving processing of complex concave areas and reduces unnecessary material waste, making it particularly suitable for the efficient processing of complex concave stone.

[0057] The above is only a preferred specific embodiment of the present invention, but the design concept of the present invention is not limited to this. Any technician familiar with this technical field who uses this concept to make non-substantial changes to the present invention within the technical scope disclosed by the present invention shall be deemed to infringe the scope of protection of the present invention.

Claims

1. A material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone, characterized by: The following steps are involved: Step 1: Construct the cutting range of the circular saw blade as follows: The cutting length L of the circular saw blade is set, and the cutting range of the circular saw blade at different angles is constructed using MATLAB software to obtain the maximum cutting range of the circular saw blade at different angles. The maximum cutting range includes the cutting depth H and the cutting section radius R of the circular saw blade. Step 2: Based on the concave surface fitting algorithm of the maximum cutting range of the circular saw blade, fit the overall contour of the concave surface as follows: A. Concave surface feature identification and extraction: Import the 3D stone model into the 3D software, identify the geometric features of the concave area, and extract the geometric feature data of the concave area, including the contour boundary and depth of the concave surface; B. Inscribed circle generation and maximum cutting range construction: Generate a maximum inscribed circle within the concave surface contour; Based on the radius r of the circular saw blade and the concave depth h, combined with the cutting depth L of the circular saw blade, obtain the cutting depth H corresponding to the cutting range under the radius r r , and the cutting range of the circular saw blade corresponding to the cutting section radius R under the concave depth h h ; C. Set the cutting range of different depths h of the concave surface and construct an ideal three-dimensional cutting range; Step 3: Cutting trajectory planning: Based on the ideal three-dimensional cutting range, select the appropriate cutting path on the fitted concave surface, and use multi-tool processing technology to form a whole-piece sawing process where multiple tools converge to one point.

2. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 1, characterized in that: The cuttable length L of the circular saw blade is the maximum length that the circular saw blade can cut deeply.

3. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 1 is characterized in that: The three-dimensional software includes one of a CAD or CAM system.

4. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 1, characterized in that: In step one, the cutting range of the circular saw blade at different angles is as follows: since the cross section of the cutting range of the circular saw blade is a circle, different cutting depths H and the cross-sectional radius R of the cutting range at the corresponding angles are obtained when cutting at different angles.

5. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 1, characterized in that: In step 2, 6. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 5, characterized in that: In step 2, the cutting range of the concave surface with different depths h is set as follows: When h<H r When the radius is R h Fitting the cutting range; When H r When <h<L, select a radius between R h Fitting the cutting range between R; When h>L, select radius R max The cutting range is fitted, R max The radius value that maximizes the cutting range in the current state.

7. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 1, characterized in that: In step three, selecting the appropriate cutting path includes: Let the intersection of the circular saw blade and the inscribed circle on the concave surface be L n , single transversal line L n Corresponding to the cutting path of the circular saw blade at a specific position; select multiple cut lines L that intersect in sequence and are connected head to tail n A continuous path is formed as a sawing trajectory for multi-knife whole-piece sawing.

8. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 7, characterized in that: In step three, n≥3.

9. The material-saving cutting trajectory planning method for processing concave areas of three-dimensional stone according to claim 8, characterized in that: In step three, cutting trajectory planning includes combining the motion parameters of the industrial robot and the cutting range of the circular saw blade to perform cutting trajectory planning.

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