Chip flushing system and method

Abstract

According to the chip flushing system and method, the system based on image recognition and nozzle water spraying angle control is integrated into a numerical control machine tool mainly by arranging an image obtaining piece and a base of a movable nozzle, and accurate water spraying cleaning and dynamic cooling can be achieved by positioning chips and a high-temperature area in real time; and cooling liquid consumption and manual intervention are reduced. According to the main technical scheme, the chip flushing system comprises an image obtaining part, a chip flushing part and a chip flushing part, and the automatic cooling spray head comprises a nozzle and a base, the nozzle is connected with the base, and the base is used for driving the nozzle to move and adjusting the spraying direction of the nozzle so as to flush the cuttings. The chip flushing device is mainly used for flushing chips in the working space of the numerical control machine tool.

Description

Technical Field

[0001] The present invention relates to the technical field of numerically controlled machine tools, and in particular to a chip flushing system and method. Background Art

[0002] CNC machine tools play a vital role in modern manufacturing. If the large amount of chips generated during product processing are not cleaned in a timely and effective manner, it will have many adverse effects on the normal operation, processing accuracy and service life of the machine tools.

[0003] Traditional chip cleaning methods rely primarily on manual chip removal after machine tool parts are processed, or on flushing with directional cooling nozzles for chip removal. Manual cleaning, using tools like brushes, shovels, and vacuums, is inefficient and prone to incomplete cleaning, especially in complex machine tool structures and confined spaces. Flushing with directional cooling nozzles can also leave chips and lack the flexibility to clean the parts.

[0004] In addition, most existing cleaning devices lack intelligent functions and are unable to intelligently adjust the cleaning strategy according to the actual working status of the machine tool and the generation of iron chips, resulting in low cleaning efficiency and may even interfere with the normal operation of the machine tool. Summary of the Invention

[0005] In view of this, an embodiment of the present invention provides a chip flushing system and method, which are mainly used to solve the problem of poor chip cleaning effect in the prior art.

[0006] To achieve the above objectives, the present invention mainly provides the following technical solutions:

[0007] In one aspect, the present invention provides a chip flushing system for a CNC machine tool, wherein the CNC machine tool includes a workspace, and the chip flushing system includes:

[0008] An image acquisition component, used for acquiring an image of a workspace;

[0009] The automatic cooling nozzle comprises a nozzle and a base, wherein the nozzle is connected to the base, and the base is used to drive the nozzle to move and adjust the spraying direction of the nozzle to flush the chips in the working space (3).

[0010] The base includes a first adjustment component and a second adjustment component, the first adjustment component is connected to the second adjustment component, and the second adjustment component is connected to the nozzle;

[0011] The first adjustment component is used to drive the second adjustment component and the nozzle to rotate around the rotation axis, and the second adjustment component is used to drive the nozzle to swing relative to the swing axis. The rotation axis and the swing axis have an intersection.

[0012] The first adjustment assembly includes a bottom mounting surface, a bearing, a top mounting surface, a middle mounting surface, a connecting column, a first steering gear, an outer spacer, an inner spacer, an upper rotating plate, and a lower rotating plate;

[0013] The bottom mounting surface and the middle mounting surface are both annular, the bottom mounting surface is arranged around the outer periphery of the lower rotating plate, the middle mounting surface is arranged around the outer periphery of the upper rotating plate, and the top mounting surface, the upper rotating plate and the lower rotating plate are arranged in parallel and spaced apart in sequence;

[0014] The connecting column is connected to the bottom mounting surface, the middle mounting surface and the top mounting surface, the outer spacer is connected to the bottom mounting surface and the middle mounting surface and is sleeved on the outer circumference of the connecting column, the outer spacer is connected to the outer ring of the bearing, the inner spacer is connected to the upper rotating plate and the lower rotating plate, and the inner spacer is connected to the inner ring of the bearing;

[0015] The first steering gear is connected to the top mounting surface, the output shaft of the first steering gear is connected to the upper rotating plate, and the lower rotating plate is connected to the second adjusting assembly.

[0016] Wherein, the second adjustment assembly includes a motor bracket, a second servo and a nozzle bracket;

[0017] The motor bracket is connected to the lower rotating plate, the second steering gear is connected to the motor bracket, the first end of the nozzle bracket is connected to the output shaft of the second steering gear, and the nozzle is connected to the second end of the nozzle bracket.

[0018] The chip flushing system also includes:

[0019] The water inlet pipe, the nozzle bracket includes a first connecting part and a second connecting part, the first connecting part and the second connecting part are respectively connected to the nozzle on both sides of the nozzle, and the top mounting surface, the upper rotating plate and the lower rotating plate are all provided with arc holes;

[0020] The water inlet pipe is connected to the nozzle, and is led out from between the first connecting part and the second connecting part, and then passed through the arc-shaped hole.

[0021] Among them, also include:

[0022] The processing unit is electrically connected to the automatic cooling nozzle and the image acquisition component. The image acquisition component is used to transmit the image to the processing unit through the image acquisition card. The processing unit is used to visually identify the image to determine the chip position, determine the control instruction according to the chip position, and transmit it to the automatic cooling nozzle motion control card, which drives the nozzle to move through the base to clean the chips.

[0023] On the other hand, the present application also provides a chip flushing method for a chip flushing system, the method comprising:

[0024] Acquire images of the machine tool's workspace;

[0025] Identify the chip location in the image;

[0026] The nozzle is driven to move and spray water according to the chip position to clean the chips in the working space.

[0027] Before the step of acquiring the image of the working space of the machine tool, the method further includes:

[0028] Define the image coordinate system and the automatic cooling nozzle coordinate system;

[0029] Determine the position of the automatic cooling nozzle in the image coordinate system;

[0030] Determine the rotation matrix between the image coordinate system and the automatic cooling nozzle coordinate system.

[0031] The steps of driving the nozzle to move and spray water according to the chip position to clean the chips are as follows:

[0032] Determine the intermediate vector based on the chip position and the position of the automatic cooling nozzle in the image coordinate system;

[0033] Determine the direction vector of the automatic cooling nozzle according to the intermediate vector and the rotation matrix;

[0034] Determine the rotation angle and the swing angle according to the direction vector of the automatic cooling nozzle;

[0035] The nozzle is driven to move and spray water according to the rotation angle and swing angle to clean the chips.

[0036] The step of determining the position of the automatic cooling nozzle in the image coordinate system specifically includes:

[0037] Select three reference points on the workspace and determine the coordinates of the three reference points in the image coordinate system;

[0038] Spray water into the workspace, adjust the position of the nozzle, and obtain the direction information of the nozzle in the automatic cooling nozzle coordinate system when the water is projected onto three reference points in sequence;

[0039] Determine a first angle, a second angle, and a third angle between any two of the three direction information;

[0040] Generate multiple random space points in the image coordinate system;

[0041] Traversing some of the random space points among the multiple random space points, and determining three space vectors corresponding to the random space points and the three reference points;

[0042] Determine the fourth angle, the fifth angle, and the sixth angle between any two of the three space vectors;

[0043] Calculating the sum of the absolute value of the difference between the first angle and the fourth angle, the absolute value of the difference between the second angle and the fifth angle, and the absolute value of the difference between the third angle and the sixth angle as the accumulated angle deviation;

[0044] Determine whether the minimum cumulative angle deviation value is less than a threshold. If so, use the random spatial point corresponding to the minimum cumulative angle deviation value as the position of the automatic cooling nozzle in the image coordinate system. Otherwise, continue to traverse the remaining random spatial points.

[0045] The steps of determining the rotation matrix between the image coordinate system and the automatic cooling nozzle coordinate system specifically include:

[0046] Normalize the position of the automatic cooling nozzle in the image coordinate system and the three space vectors corresponding to the three reference points to obtain an image matrix;

[0047] The nozzle matrix is ​​obtained according to the spraying direction of the automatic cooling nozzle to the three reference points;

[0048] Determine the rotation matrix based on the image matrix and the nozzle matrix.

[0049] The chip flushing system and method proposed in the present invention mainly provide an image acquisition component and a base for a movable nozzle, so as to integrate the system based on image recognition and nozzle water spray angle control into the CNC machine tool. It can realize precise water spray cleaning and dynamic cooling by real-time positioning of chips and high-temperature areas, significantly improving machining accuracy and extending tool life; at the same time, it reduces coolant consumption and manual intervention, enhances automated production efficiency and safety, and supports data-driven process optimization, providing efficient and energy-saving closed-loop control solutions for intelligent manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic structural diagram of a chip flushing system and a working space provided by an embodiment of the present invention;

[0051] Figure 2 A schematic structural diagram of an automatic cooling nozzle provided by an embodiment of the present invention;

[0052] Figure 3 A schematic diagram of a partial structure of an automatic cooling nozzle provided by an embodiment of the present invention;

[0053] Figure 4 A schematic cross-sectional view of a portion of the structure of an automatic cooling nozzle provided by an embodiment of the present invention at a first viewing angle;

[0054] Figure 5 A schematic cross-sectional view of a portion of the structure of an automatic cooling nozzle provided by an embodiment of the present invention at a second viewing angle;

[0055] Figure 6A schematic diagram of signal transmission of a chip flushing system provided by an embodiment of the present invention;

[0056] Figure 7 A flow chart of a chip punching method provided in an embodiment of the present invention;

[0057] Figure 8 A flow chart of another chip flushing method provided by an embodiment of the present invention;

[0058] Figure 9 A schematic diagram of the orientation calibration of a nozzle coordinate system in an image coordinate system provided by an embodiment of the present invention;

[0059] Figure 10 A schematic diagram of the relationship between the direction vector, rotation angle, and angle of an automatic cooling nozzle provided by an embodiment of the present invention;

[0060] Among them, 1. Automatic cooling nozzle; 2. Image acquisition component; 3. Workspace; 4. Cylindrical cover; 5. Spherical cover; 6. Water inlet pipe; 7. Motor bracket; 8. Second servo; 9. Bottom mounting surface; 10. Bearing; 11. Top mounting surface; 12. Middle mounting surface; 13. Connecting column; 14 First servo; 15. Nozzle; 16. Nozzle bracket; 17. Outer spacer; 18. Inner spacer; 19. Upper rotating plate; 20. Lower rotating plate; 21. Inner spline flange. DETAILED DESCRIPTION

[0061] In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose of the invention, the following is a detailed description of the specific implementation method, structure, characteristics and effects of a machine tool proposed according to the present invention in combination with the accompanying drawings and preferred embodiments.

[0062] On the one hand, if Figure 1-5 As shown, an embodiment of the present invention provides a chip flushing system for a CNC machine tool. The CNC machine tool includes a workspace 3, which is used to receive chips. The chip flushing system includes:

[0063] An image acquisition component 2, the image acquisition component 2 is used to acquire an image of a workspace 3;

[0064] The automatic cooling nozzle 1 includes a nozzle 15 and a base. The nozzle 15 is connected to the base. The base is used to drive the nozzle 15 to move and adjust the spraying direction of the nozzle 15 to flush the chips in the working space 3.

[0065] The workspace 3 may be an internal area of ​​a CNC machine tool, such as a horizontal bearing surface, or an area with a complex structure, such as an area with structural parts such as a fixture. Figure 1 A simplified plane is taken as an example.

[0066] The image acquisition component 2 can be of various types, such as a high-resolution camera with image pattern recognition capabilities. The image acquisition component 2 is installed on top of the working space 3 inside the machine tool to monitor the working space 3 of the machine tool. The image acquisition component 2 can automatically adjust the focal length and exposure parameters to obtain the best image quality, so that the working space 3 and the chips thereon can be clearly captured at different distances. The image acquisition component 2 is used to acquire images and can use machine vision technology to detect edge and texture information in the image, extract the contour and surface features of the object, match the extracted feature information with the pre-stored cutting shape pattern, realize intelligent recognition of the chips in the image, and output the coordinates of the chip location in the image coordinate system.

[0067] The automatic cooling nozzle 1 is installed on the top of the workspace 3, and includes two parts: a nozzle 15 and a base. The automatic cooling nozzle 1 is connected to the machine tool cooling system. The nozzle 15 includes a water outlet arranged toward the workspace 3. The coolant of the machine tool cooling system is sprayed outward through the water outlet, and the sprayed water flow can be approximately regarded as a straight line. When the water flow is projected onto the workspace 3, it only flushes and cools a part of the area smaller than the area of ​​the workspace 3. The base can be digitally controlled, and the movement of the nozzle 15 is realized by digitally controlling the motor and the mechanical transmission structure. The movement of the nozzle 15 realizes the adjustment of the direction of the water outlet, and then the sprayed water flow is projected onto different areas on the workspace 3, so that the spray direction of the nozzle 15 can be controlled according to the coordinates of the chip location in the image coordinate system, and then targeted chip removal and local cooling can be carried out.

[0068] The chip flushing system and method proposed in the embodiments of the present invention mainly provide an image acquisition component and a base for a movable nozzle, so as to integrate a system based on image recognition and nozzle water spray angle control into a CNC machine tool. It can realize precise water spray cleaning and dynamic cooling by real-time positioning of chips and high-temperature areas, significantly improving machining accuracy and extending tool life; at the same time, it can reduce coolant consumption and manual intervention, enhance automated production efficiency and safety, and support data-driven process optimization, providing an efficient and energy-saving closed-loop control solution for intelligent manufacturing.

[0069] The base can be implemented in a variety of ways, as long as the angle of the nozzle 15 can be adjusted so that the spray from the nozzle 15 covers the entire workspace 3 by adjusting the angle. For example, in one embodiment, the base includes a first adjustment component and a second adjustment component, wherein the first adjustment component is connected to the second adjustment component, and the second adjustment component is connected to the nozzle 15. The first adjustment component is used to drive the second adjustment component and the nozzle 15 to rotate about a rotation axis, and the second adjustment component is used to drive the nozzle 15 to swing relative to a swing axis, and the rotation axis and the swing axis have an intersection.

[0070] The nozzle 15 is driven to rotate about its rotational axis and oscillate relative to its swing axis, providing it with two degrees of freedom. The base adjusts the angular range of the nozzle 15's two degrees of freedom to achieve coverage of the machine tool's workspace 3. This simple adjustment process, excellent structural stability, facilitates calculation of the adjustment angle, and increases control accuracy.

[0071] The first adjustment component and the second adjustment component can be implemented in the following manner: Figure 3-4 As shown, the first adjustment assembly includes a bottom mounting surface 9, a bearing 10, a top mounting surface 11, a middle mounting surface 12, a connecting post 13, a first servo 14, an outer spacer 17, an inner spacer 18, an upper rotating plate 19, and a lower rotating plate 20. The bottom mounting surface 9 and the middle mounting surface 12 are both annular. The bottom mounting surface 9 is arranged around the outer periphery of the lower rotating plate 20, and the middle mounting surface 12 is arranged around the outer periphery of the upper rotating plate 19. The top mounting surface 11, the upper rotating plate 19, and the lower rotating plate 20 are arranged parallel and spaced apart in sequence. The connecting post 13 connects to the bottom mounting surface 9, the middle mounting surface 12, and the top mounting surface 11. The outer spacer 17 connects to the bottom mounting surface 9 and the middle mounting surface 12 and is sleeved around the outer periphery of the connecting post 13. The outer spacer 17 is connected to the outer ring of the bearing 10. The inner spacer 18 is connected to the upper rotating plate 19 and the lower rotating plate 20, and the inner spacer 18 is connected to the inner ring of the bearing 10. The first servo 14 is connected to the top mounting surface 11 , and the output shaft of the first servo 14 is connected to the upper rotating plate 19 , and the lower rotating plate 20 is connected to the second adjustment assembly.

[0072] The bearing 10 can be an annular bearing. The bottom mounting surface 9 and the middle mounting surface 12 are both annular plate structures, and the top mounting surface 11 is a circular plate structure, which has the same extension range as the bottom mounting surface 9 and the middle mounting surface 12, and is concentrically arranged in parallel in a direction perpendicular to the top mounting surface 11. The upper rotating plate 19 and the lower rotating plate 20 are both circular plate structures, and are separated from the bottom mounting surface 9 and the middle mounting surface 12 by a certain gap, so that they can move freely. The connecting column 13 is connected to the bottom mounting surface 9, the middle mounting surface 12 and the top mounting surface 11, and then forms an external frame. The upper rotating plate 19 and the lower rotating plate 20 constitute a rotating structure.

[0073] More specifically, the number of connecting columns 13 can be four, evenly distributed around the circumference of the bottom mounting surface 9. The outer spacer 17 is fixed by the connecting columns 13 and is connected to the outer ring of the bearing 10 by extrusion. Then, the bottom mounting surface 9, the middle mounting surface 12, the top mounting surface 11, the connecting columns 13 and the outer ring of the bearing 10 are all fixed. The inner spacer 18 can be fixedly connected to the upper rotating plate 19 and the lower rotating plate 20 by bolts, and is connected to the inner ring of the bearing 10 by extrusion. The first servo 14 is provided on the top mounting surface 11. Figure 5As shown, the output shaft of the first servo 14 engages with an internal spline flange 21 on the upper rotating plate 19 via an external spline, thereby achieving circumferential restraint with the upper rotating plate 19. Rotation of the output shaft of the first servo 14 drives the upper rotating plate 19, the lower rotating plate 20, the inner spacer 18, and the second adjustment assembly and nozzle 15 connected to the lower rotating plate 20 to rotate synchronously, thereby providing a first degree of freedom. The axis of the output shaft of the first servo 14 serves as the rotational axis.

[0074] In one embodiment, the second adjustment assembly includes a motor bracket 7, a second servo 8, and a nozzle bracket 16. The motor bracket 7 is connected to the lower rotating plate 20, the second servo 8 is connected to the motor bracket 7, the first end of the nozzle bracket 16 is connected to the output shaft of the second servo 8, and the nozzle 15 is connected to the second end of the nozzle bracket 16.

[0075] The nozzle support 16 can be regarded as a swing arm. The swing arm is driven by the second steering gear 8 to swing, and then the four-wire nozzle 15 swings, thereby providing a second degree of freedom. The axis of the output shaft of the second steering gear 8 is the swing axis.

[0076] In one embodiment, the chip flushing system further includes: a water inlet pipe 6; a nozzle bracket 16 including a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion respectively connected to the nozzle 15 on either side thereof; and arc-shaped holes are provided on the top mounting surface 11, the upper rotating plate 19, and the lower rotating plate 20. The water inlet pipe 6 is connected to the nozzle 15 and is led out between the first connecting portion and the second connecting portion and then connected to the arc-shaped hole.

[0077] The first connection portion and the second connection portion are respectively connected to both sides of the nozzle 15 in the radial direction, and are connected to the output shafts at both ends of the second servo 8, thereby making the connection of the nozzle 15 more stable and less likely to shake. On the other hand, the water inlet pipe 6 has a large movable space relative to the nozzle bracket 16. When the nozzle bracket 16 swings, the nozzle bracket 16 is less likely to pull and interfere with the water inlet pipe 6. The arc hole is an opening opened around the axis of rotation. When the water inlet pipe 6 rotates with the nozzle 15, it can move in the arc hole and is not easily pulled and separated from the nozzle 15 or bent to cause poor water supply. In addition, the water inlet pipe 6 passes through the arc hole to realize internal wiring, making the automatic cooling nozzle 1 neat in appearance.

[0078] In one embodiment, Figure 2 As shown, the base also includes a cylindrical cover 4 and a spherical cover 5. The cylindrical cover 4 is a cylindrical cavity structure, located around the periphery of the first adjustment assembly. The spherical cover 5 is hemispherical, connected to the lower rotating plate 20, and located around the periphery of the second adjustment assembly. The spherical cover 5 has a hollow opening, a long arc-shaped opening that adapts to the movement trajectory of the nozzle holder 16. The second end of the nozzle holder 16 extends from the hollow outside the spherical cover 5 and is connected to the nozzle 15. The nozzle holder 16 is designed to swing relative to the hollow opening.

[0079] The cylindrical cover 4 and spherical cover 5 are the primary exterior components. The cylindrical cover 4 is fixedly mounted to the protective roof within the machine tool. During operation, the spherical cover 5 rotates around the cylindrical cover 4 along with the lower rotating plate 20, generating a first degree of freedom. The nozzle 15 below the spherical cover 5 swings along the arc-shaped hollow portion, generating a second degree of freedom. The cylindrical cover 4 and spherical cover 5 create a neat appearance and protect the internal structure, preventing dust accumulation and resulting in poor movement over time.

[0080] The processing unit and communication module for determining the cutting coordinates by the image and then realizing the automatic two-dimensional orientation of the cooling nozzle 1 are realized in the following manner. The system also includes a processing unit, an image acquisition card and a motion control card, such as Figure 6 As shown, the processing unit is connected to the image acquisition card and the motion control card, the motion control card is electrically connected to the automatic cooling nozzle 1 , and the image acquisition card is electrically connected to the image acquisition component 2 .

[0081] The processing unit can be a CNC machine tool system or an independent computer terminal, i.e., a PC. The image information collected by the high-resolution camera is transmitted to the image acquisition card via the USB communication protocol. The image acquisition card transmits the image information to the PC or CNC system. The software with image processing, chip identification, and coordinate conversion functions is used to realize real-time processing of the collected image, and visual recognition of the image is realized to determine the chip position. The control instruction is determined according to the chip position. The control instruction includes angular data for controlling the two-degree-of-freedom swing of the nozzle. The control instruction is output to the motion control card or the servo drive board through the serial port, and the servo drive board drives the second servo 8 and the first servo 14, and then drives the nozzle 15 to move in two degrees of freedom, thereby controlling the water spraying direction of the nozzle 15, and realizing targeted cooling and chip removal.

[0082] On the other hand, Figure 7 As shown, the present application also provides a chip flushing method for a chip flushing system, the method comprising:

[0083] S1-1. Acquire an image of the workspace 3 of the machine tool.

[0084] The images captured by the high-resolution camera are used for real-time monitoring and are transmitted to the processing unit.

[0085] S1-2. Identify the chip position in the image.

[0086] The processing unit stores cutting shape patterns, such as the shapes and texture features of common chips at various angles. Using machine vision technology, it detects edges and texture information in the image, extracts the object's contours and surface features, and matches this extracted feature information with pre-stored cutting shape patterns. It intelligently identifies the chips in the image and outputs their coordinates in the image coordinate system.

[0087] S1-3, driving the nozzle 15 to move and spray water according to the position of the chips to clean the chips in the working space 3.

[0088] According to the chip position, the angular data of the two degrees of freedom of the nozzle are determined through calibration and transformation, and sent to the steering gear drive board, which then drives the nozzle 15 to rotate to the first degree of freedom angular direction and swing to the second degree of freedom angular direction.

[0089] On the other hand, if Figure 8 As shown, this application also provides another chip flushing method, proposing a calibration and transformation algorithm for the visual image coordinate system and the two-dimensional direction vector of the automatic cooling nozzle. Based on the pinhole camera model, through coordinate system transformation, a mathematical model for the transformation between the visual image coordinate system and the automatic nozzle direction vector is established; through the calibration algorithm, the relative spatial position relationship between the camera and the automatic nozzle is determined. The method is used in the chip flushing system and specifically includes:

[0090] S2-1. Define the image coordinate system and the automatic cooling nozzle coordinate system.

[0091] like Figure 9 As shown, within the image plane, a corner point is defined as the origin Oc of the image coordinate system. The image plane is a virtual plane formed by the image of the workspace 3 captured by the image acquisition component 2. Within the image plane, the long side of the image through the origin Oc is the Xc axis of the image coordinate system, the wide side of the image through the origin Oc is the Yc axis of the image coordinate system, and the normal of the image through the origin is the Zc axis. If the long and wide sides of the image are the same, they can be selected arbitrarily.

[0092] The intersection of the rotation axis and the swing axis of the automatic cooling nozzle 1 is used as the origin O1 of the automatic cooling nozzle 1 coordinate system. The directions of the X1 axis, Y1 axis, and Z1 axis are defined according to actual conditions and satisfy the right-hand rule of the Cartesian coordinate system. For example, the rotation axis can be used as the Z1 axis and the swing axis as the X1 axis.

[0093] S2-2. Determine the position of the automatic cooling nozzle 1 in the image coordinate system.

[0094] S2-2-1. Select three reference points on the workspace 3 and determine the coordinates of the three reference points in the image coordinate system, or in other words, determine the coordinates of the three reference points in the image plane. For example, you can select three reference points P1, P2, and P3. Figure 9 As shown, P1(0,0,0), P2(0,h,0), P3(w,0,0), P1(0,0,0), P2(0,h,0), P3(w,0,0) are different corner points in the image plane. Figure 9 In FIG. 5 , P4 (w, h, 0) is the fourth corner point in the image plane except for the three reference points P1, P2, and P3. It is not used in this embodiment and is only used as a mark.

[0095] S2-2-2. Control nozzle 15 to spray water toward working area 3. Manually adjust the angle of nozzle 15 so that the water sprayed by nozzle 15 sequentially projects onto the three reference points. Obtain the direction information of nozzle 15 in the automatic cooling nozzle coordinate system when the water spray is sequentially projected onto the three reference points. This direction information can be obtained by obtaining the positions of the output terminals of the second servo 8 and the first servo 14 using the motion control card.

[0096] Because the shape of the water column sprayed by the automatic cooling nozzle changes under different water pressures, higher water pressure in the automatic cooling nozzle results in a straighter water column and a more accurate angle calculation. In one embodiment, when executing S2-2-2, the water pressure of the automatic cooling nozzle is adjusted to above 2 bar, thereby reducing errors caused by water column curvature.

[0097] To achieve more accurate angle calibration, in some embodiments, the method further comprises: obtaining water pressure information. After obtaining the directional information of the nozzle 15 in the automatic cooling nozzle coordinate system when the water spray is sequentially projected onto the three reference points, the method further comprises using the water pressure information to compensate for the directional information. Specifically, this can be accomplished by setting a water pressure threshold range and setting different compensation coefficients for different water pressure ranges, with the compensation coefficient being less than 1. The lower the water pressure, the smaller the compensation coefficient, and the compensation coefficient is used to compensate for the swing angle of the second servo 8.

[0098] S2-2-3. Determine a first angle θ1, a second angle θ2, and a third angle θ3 between any two of the three directional information.

[0099] S2-2-4. Generate I random space points Pci(x ci ,y ci , z ci ). i is an integer greater than or equal to 1 and less than or equal to 1. I can be 100, 200, 500, 1000, etc., and can be determined according to the size of the image plane and the height of the image acquisition member 2.

[0100] S2-2-5. Traverse n random space points among I random space points, where n is less than I, and determine three space vectors corresponding to the random space points and the three reference points.

[0101] That is, for the i-th random space point Pci, with Pci as the starting point and P1, P2, and P3 as the end points, the i-th group of space vectors is formed:

[0102] ai=[-x ci -y ci -z ci ] T

[0103] bi=[-x ci hy ci -zci ] T

[0104] ci=[wx ci -y ci -z ci ] T

[0105] S2-2-6. Determine the fourth angle, fifth angle, and sixth angle between any two of the three space vectors.

[0106] θi1=arccos(ai·bi / |ai||bi|)

[0107] θi2=arccos(ai·ci / |ai||ci|)

[0108] θi3=arccos(bi·ci / |bi||ci|)

[0109] S2-2-7. Calculate the sum of the absolute value of the difference between the first angle and the fourth angle, the absolute value of the difference between the second angle and the fifth angle, and the absolute value of the difference between the third angle and the sixth angle as the accumulated angle deviation.

[0110] Define the cumulative angle deviation △i to satisfy:

[0111] △i=|θi1-θ1|+|θi2-θ2|+|θi3-θ3|

[0112] S2-2-8. Determine whether the minimum cumulative angle deviation value among n random space points is less than the threshold value. If so, use the random space point corresponding to the minimum cumulative angle deviation value as the position of the automatic cooling nozzle 1 in the image coordinate system. Otherwise, continue to traverse the remaining random space points.

[0113] That is, calculate the minimum value △j of △i, △j=min{△1, △2, ..., △n}. j is the i value corresponding to the minimum △i. Set the threshold △ to determine whether △j≤△. If so, stop traversing and determine the position of the automatic cooling nozzle 1 in the image coordinate system: Pc(x c ,y c , z c )=Pcj(x cj ,y cj , z cj Otherwise, expand the value of n and continue the traversal calculation. The value of the △ setting determines the positioning accuracy of the automatic cooling nozzle 1 and can be selected as needed. At this point, the position of the automatic cooling nozzle 1 in the image coordinate system is calibrated.

[0114] S2-3. Determine the rotation matrix between the image coordinate system and the automatic cooling nozzle coordinate system.

[0115] S2-3-1. Normalize the position of the automatic cooling nozzle in the image coordinate system and the three space vectors corresponding to the three reference points to obtain an image matrix.

[0116] In the image coordinate system, the a, b, and c vectors are normalized to Ua, Ub, and Uc:

[0117] Ua=a / |a|Ub=b / |b|Uc=c / |c|

[0118] Wherein, a, b, and c are space vectors formed with the position of the automatic cooling nozzle 1 in the image coordinate system as the starting point and P1, P2, and P3 as the end points.

[0119] In the image coordinate system, the three unit vectors Ua, Ub, and Uc form the image matrix A = [Ua, Ub, Uc].

[0120] S2-3-2. Obtain a nozzle matrix based on the spraying directions of the automatic cooling nozzles to the three reference points.

[0121] During the calibration process, the spray directions of the automatic cooling nozzle 1 at points P1, P2, and P3 are known and correspond to the unit vectors α, β, and γ respectively.

[0122] In the automatic cooling nozzle coordinate system, three unit vectors α, β, and γ form the nozzle matrix B = [α, β, γ].

[0123] S2-3-3. Determine the rotation matrix based on the image matrix and the nozzle matrix.

[0124] Since Ua, Ub, and Uc are not coplanar, the image matrix A is reversible and A is calculated. -1 .

[0125] Define the rotation matrix R from the image matrix A to the nozzle matrix B, and B=RA.

[0126] Then the rotation matrix R = BA -1 .

[0127] Considering the positioning error of the aforementioned automatic cooling nozzle 1 positioning algorithm, R may not be a strictly orthogonal rotation matrix with det(R) = 1, but it does not affect the actual application. In this way, the position and direction of the automatic cooling nozzle 1 are calibrated.

[0128] S2-4. Acquire an image of the working space 3 of the machine tool.

[0129] S2-5. Identify the chip position in the image.

[0130] Please refer to the aforementioned steps S1-1 and S1-2, which will not be repeated here.

[0131] S2-6. Determine the intermediate vector according to the chip position and the position of the automatic cooling nozzle 1 in the image coordinate system.

[0132] If the chip position is Pq(q, e, 0), and the position of the automatic cooling nozzle 1 is Pc(x c ,y c , z c ), the intermediate vector is Z=[qx c ey c -z c ].

[0133] S2-7. Determine the direction vector of the automatic cooling nozzle according to the intermediate vector and the rotation matrix.

[0134] The axial direction vector ε of the automatic cooling nozzle 1 is ε=[x ε y ε z ε ]=ZR. Then, the direction of the automatic cooling nozzle 1 in the automatic cooling nozzle 1 coordinate system is determined.

[0135] S2-8. Determine the rotation angle φ and the swing angle ω according to the direction vector of the automatic cooling nozzle.

[0136] like Figure 10 As shown, the following relationship is satisfied:

[0137]

[0138] S2-9. Drive the nozzle 15 to move and spray water according to the rotation angle φ and the swing angle ω to clean the chips.

[0139] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A chip flushing system, characterized in that: For a numerically controlled machine tool, the numerically controlled machine tool comprises a workspace (3), and the chip flushing system comprises: An image acquisition element (2), the image acquisition element (2) being used to acquire an image of the workspace (3); An automatic cooling nozzle (1) comprises a nozzle (15) and a base, wherein the nozzle (15) is connected to the base, and the base is used to drive the nozzle (15) to move and adjust the spraying direction of the nozzle (15) to flush chips in the working space (3).

2. The chip flushing system according to claim 1, characterized in that: The base comprises a first adjustment component and a second adjustment component, the first adjustment component is connected to the second adjustment component, and the second adjustment component is connected to the nozzle (15); The first adjustment component is used to drive the second adjustment component and the nozzle (15) to rotate around a rotation axis, and the second adjustment component is used to drive the nozzle (15) to swing relative to a swing axis, and the rotation axis and the swing axis have an intersection.

3. The chip flushing system according to claim 2, characterized in that: The first adjustment assembly comprises a bottom mounting surface (9), a bearing (10), a top mounting surface (11), a middle mounting surface (12), a connecting column (13), a first steering gear (14), an outer spacer (17), an inner spacer (18), an upper rotating plate (19) and a lower rotating plate (20); The bottom mounting surface (9) and the middle mounting surface (12) are both annular, the bottom mounting surface (9) is arranged around the outer periphery of the lower rotating plate (20), the middle mounting surface (12) is arranged around the outer periphery of the upper rotating plate (19), and the top mounting surface (11), the upper rotating plate (19) and the lower rotating plate (20) are sequentially arranged in parallel and spaced apart. The connecting column (13) is connected to the bottom mounting surface (9), the middle mounting surface (12) and the top mounting surface (11); the outer spacer (17) is connected to the bottom mounting surface (9) and the middle mounting surface (12), and is sleeved on the outer periphery of the connecting column (13); the outer spacer (17) is connected to the outer ring of the bearing (10); the inner spacer (18) is connected to the upper rotating plate (19) and the lower rotating plate (20), and the inner spacer (18) is connected to the inner ring of the bearing (10); The first steering gear (14) is connected to the top mounting surface (11), and the output shaft of the first steering gear (14) is connected to the upper rotating plate (19), and the lower rotating plate (20) is connected to the second adjusting assembly.

4. The chip flushing system according to claim 3, characterized in that: The second adjustment assembly comprises a motor bracket (7), a second steering gear (8) and a nozzle bracket (16); The motor bracket (7) is connected to the lower rotating plate (20), the second steering gear (8) is connected to the motor bracket (7), the first end of the nozzle bracket (16) is connected to the output shaft of the second steering gear (8), and the nozzle (15) is connected to the second end of the nozzle bracket (16).

5. The chip flushing system according to claim 4, characterized in that: The chip flushing system further comprises: A water inlet pipe (6), the nozzle bracket (16) comprises a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are connected to the nozzle (15) at two sides of the nozzle (15), respectively, and arc holes are provided on the top mounting surface (11), the upper rotating plate (19) and the lower rotating plate (20); The water inlet pipe (6) is connected to the nozzle (15), and is led out from between the first connecting portion and the second connecting portion and then connected to the arc-shaped hole.

6. The chip flushing system according to claim 1, characterized in that Also includes: A processing unit is provided, wherein the processing unit is electrically connected to the automatic cooling nozzle (1) and the image acquisition component (2), the image acquisition component (2) is used to transmit the image to the processing unit through an image acquisition card, the processing unit is used to perform visual recognition on the image to determine the chip position, determine a control instruction based on the chip position, and transmit the control instruction to the motion control card of the automatic cooling nozzle (1), and drive the nozzle (15) to move through the base to clean the chips.

7. A chip punching method, characterized in that: For a chip flushing system, the method comprises: Acquire images of the machine tool's workspace; identifying chip locations in the image; The nozzle is driven to move and spray water according to the chip position to clean the chips in the working space.

8. The chip flushing method according to claim 7, characterized in that: Before the step of acquiring an image of the working space of the machine tool, the method further includes: Define the image coordinate system and the automatic cooling nozzle coordinate system; Determining the position of the automatic cooling nozzle in the image coordinate system; A rotation matrix between the image coordinate system and the automatic cooling nozzle coordinate system is determined.

9. The chip flushing method according to claim 8, characterized in that: The step of driving the nozzle to move and spray water according to the chip position to clean the chips in the working space is specifically: Determining an intermediate vector according to the chip position and the position of the automatic cooling nozzle in the image coordinate system; Determine the automatic cooling nozzle direction vector according to the intermediate vector and the rotation matrix; Determining a rotation angle and a swing angle according to the direction vector of the automatic cooling nozzle; The nozzle is driven to move and spray water according to the rotation angle and the swing angle to clean the chips.

10. The chip flushing method according to claim 8, characterized in that: The step of determining the position of the automatic cooling nozzle in the image coordinate system specifically includes: Selecting three reference points on the workspace and determining the coordinates of the three reference points in the image coordinate system; spraying water into the workspace, adjusting the position of the nozzle, and obtaining direction information of the nozzle in the automatic cooling nozzle coordinate system when the water spray is sequentially projected onto the three reference points; Determine a first angle, a second angle, and a third angle between any two of the three direction information; generating a plurality of random spatial points in the image coordinate system; Traversing some of the random space points among the plurality of random space points, and determining three space vectors corresponding to the random space points and the three reference points; determining a fourth angle, a fifth angle, and a sixth angle between any two of the three space vectors; Calculating the sum of the absolute value of the difference between the first angle and the fourth angle, the absolute value of the difference between the second angle and the fifth angle, and the absolute value of the difference between the third angle and the sixth angle as the accumulated angle deviation; Determine whether the minimum angular deviation cumulative value is less than a threshold value; if so, use the random spatial point corresponding to the minimum angular deviation cumulative value as the position of the automatic cooling nozzle in the image coordinate system; otherwise, continue to traverse the remaining random spatial points; The step of determining the rotation matrix between the image coordinate system and the automatic cooling nozzle coordinate system specifically includes: Normalizing the position of the automatic cooling nozzle in the image coordinate system and the three space vectors corresponding to the three reference points to obtain an image matrix; Obtaining a nozzle matrix according to the spraying directions of the automatic cooling nozzles to the three reference points; The rotation matrix is ​​determined according to the image matrix and the nozzle matrix.

Images