Transparent hard and brittle material cutting and separating method and system

Abstract

The invention relates to a transparent hard and brittle material cutting and separating method and system, and relates to the field of hard and brittle transparent material processing.The method comprises the steps that area image information of a preset pre-cutting area is collected; when the area image information contains the preset characteristics of the plate to be cut, cutting information is collected; obtaining a cutting form according to the cutting information; generating a front pre-cutting route based on the cutting form; a preset pre-cutting device is controlled to conduct front face pre-cutting according to the front face pre-cutting route, so that a front face initial groove is formed; after front face pre-cutting is completed, the pre-cutting device is controlled to conduct back face pre-cutting through a preset back face pre-cutting method, and therefore a back face initial groove is formed; and after reverse side pre-cutting is completed, the to-be-cut material is cut and separated through a preset plate cutting method. The method has the effect of improving the final separation precision of the transparent hard and brittle material.

Description

Technical Field

[0001] The present invention relates to the field of hard and brittle transparent material processing, and in particular to a method and system for cutting and separating transparent hard and brittle materials. Background Art

[0002] Cutting and separation of transparent hard and brittle materials refers to the process of separating large pieces of transparent hard and brittle materials (such as glass, sapphire, transparent ceramics, etc.) according to preset sizes, shapes or paths through specific processes or equipment.

[0003] Currently, cutting and separation technologies for transparent, hard, and brittle materials primarily include traditional methods such as mechanical cutting and laser cutting. Mechanical cutting involves direct contact between tools such as diamond cutters and the material surface, while laser cutting utilizes a non-contact laser beam to cut the material.

[0004] However, existing cutting processes mostly rely on one-time cutting in a single direction or single-sided pre-cutting, which only forms cutting marks on one side of the material and lacks coordinated processing of both sides of the material. As a result, the material will warp and deform due to uneven stress distribution during the cutting process, thereby reducing the final separation accuracy of transparent hard and brittle materials, which needs to be improved. Summary of the Invention

[0005] In order to improve the final separation accuracy of transparent hard and brittle materials, the present invention provides a method and system for cutting and separating transparent hard and brittle materials.

[0006] In a first aspect, the present invention provides a method for cutting and separating transparent hard and brittle materials, which adopts the following technical solution: A method for cutting and separating transparent hard and brittle materials, comprising: Collecting regional image information of a preset pre-cut area; When the regional image information contains preset features of the plate to be cut, collecting cutting information; Determining a cutting shape based on the cutting information; generating a front pre-cutting route based on the cutting shape; Controlling a preset pre-cutting device to perform front pre-cutting along the front pre-cutting route, thereby forming an initial front groove; After the front side pre-cutting is completed, the pre-cutting device is controlled to perform back side pre-cutting using a preset back side pre-cutting method, thereby forming an initial back side groove; After the reverse side pre-cutting is completed, the material to be cut is cut and separated using a preset plate cutting method.

[0007] By adopting the above technical solution, by first collecting image information of the pre-cutting area and confirming the characteristics of the plate to be cut, the cutting shape is determined according to the cutting information, an adaptive front pre-cutting route is generated, and an initial groove is formed on the front of the material through the pre-cutting device. After completing the front pre-cutting, the reverse pre-cutting method is used to synchronously form corresponding grooves on the reverse side of the material, so that stress-guiding structures are formed on both the front and back sides of the material. This positive and negative collaborative pre-cutting method breaks the limitations of traditional single-direction cutting. By constructing symmetrical initial grooves on both sides of the material, the stress distribution during the cutting process is balanced, and the warping deformation caused by unilateral force is reduced. When the separation is finally completed through the plate cutting method, the synergistic effect of the positive and negative initial grooves guides the material separation path more accurately, effectively solving the deformation problem caused by uneven stress and improving the final separation accuracy of transparent hard and brittle materials.

[0008] Optionally, the reverse side pre-cutting method includes: Turn over the pre-cut material on the front side, control the preset lighting device to perform lighting, and collect lighting image information at the same time; Scanning and identifying the preset cutting groove features from the lighting image information to obtain a front projection contour; generating a reverse pre-cutting route based on the front projection contour; The pre-cutting device is controlled to perform reverse pre-cutting along the reverse pre-cutting route, thereby forming a reverse initial groove.

[0009] Optionally, the plate cutting method includes: Performing position recognition on features of the plate to be cut from the regional image information to obtain the current position of the plate; generating clamping parameters in response to the current position of the sheet and a preset cutting container position; Based on the clamping parameters, a preset clamping device is controlled to clamp the plate to be cut into a preset cutting container, and the plate to be cut is fixed using a preset cutting and fixing method; Collect plate parameter information; Based on the plate parameter information, the plate thickness value and plate material information are known; combining the plate thickness value and the plate material information to generate cutting power; A final cutting path is determined according to the front pre-cutting path and the back pre-cutting path, and a preset cutting device is controlled to perform cutting along the final cutting path at the cutting power.

[0010] Optionally, the cutting and fixing method includes: When the plate to be cut is transferred into the cutting container, the image information in the collector is collected; Performing position recognition on the features of the plate to be cut from the image information in the device to obtain the sinking position of the plate; When the sinking position of the plate is consistent with the preset bottom position of the container, feature extraction of the plate to be cut is performed from the image information in the container to obtain the position of the pre-cut groove; Generating an optimal adsorption position based on the position of the pre-cut groove; The preset underwater suction cup device is controlled to move to the optimal adsorption position, the plate to be cut is adsorbed and fixed, and is lifted to a preset cutting operation height, and then the preset fixing device is controlled to clamp and fix the plate to be cut.

[0011] Optionally, also include: Collect the depth of pre-cut groove and the current height of the plate; determining an initial cutting depth according to the depth of the pre-cut groove and the current height of the plate; Obtaining an initial water blowing pressure value according to the initial cutting depth and a preset container liquid height; Obtaining a front water blowing route and a cutting depth change value based on the final cutting path; combining the cutting depth change value and the initial water blowing pressure value to generate a water blowing pressure change value; When the cutting device is cutting along the final cutting path, the preset front water blowing device is controlled to blow water along the front water blowing route, and the water blowing pressure is changed according to the water blowing pressure change value, so that the water flow forms a circulation flow along the inner wall of the groove, thereby removing the debris generated by the cutting.

[0012] Optionally, also include: Collect the current cutting time; combining the current cutting time, the cutting power, and the final cutting path to generate a cutting thickness value; Obtaining a remaining cutting thickness value based on the pre-cut groove depth, the plate thickness value, and the cutting thickness value; Comparing the remaining cutting thickness value with a preset critical thickness value; When the remaining cutting thickness is not less than the critical thickness value, continue to collect the current cutting time; When the remaining cutting thickness is less than the critical thickness value, the preset back-side water blowing device is controlled to perform back-side water blowing in a preset back-side water blowing method.

[0013] Optionally, the reverse side water blowing method includes: Determine the initial depth of back-side water blowing according to the depth of the pre-cut groove, the current height of the plate, and the thickness of the plate; Obtaining an initial pressure value of the back-side water blowing according to the initial depth of the back-side water blowing and the height of the liquid in the container; generating a back-side water blowing pressure change value based on the back-side water blowing initial pressure value, the remaining cutting thickness value, and the water blowing pressure change value; Obtaining a reverse water blowing route according to the final cutting path; The preset back-side water blowing device is controlled to blow water along the back-side water blowing route, and the water blowing pressure is changed according to the back-side water blowing pressure change value.

[0014] Optionally, also include: Collect cutting signals; When the cutting signal is consistent with the preset cutting completion signal, the front water blowing device and the back water blowing device are turned off, and underwater image information is collected; Knowing the cutting piece characteristics based on the cutting information; Performing image recognition on features of the cut piece from the underwater image information to obtain a position and a posture of the cut piece; Combining the cutting piece position, the cutting piece posture and the preset cutting piece outlet position to generate an auxiliary water blowing position and water blowing direction; The preset auxiliary water flow device is controlled to perform directionally blowing water from the auxiliary water blowing position in the water blowing direction to push the cutting piece to move toward the cutting piece outlet position, thereby sending the cutting piece to the preset transportation device for transportation.

[0015] Optionally, also include: Performing image recognition based on preset plate features in the underwater image information to obtain the position and shape of the remaining material; Obtaining a hooking position and a hooking angle according to the position and shape of the remaining material; Controlling a preset hook device to move to the hooking position and hooking the edge of the remaining material at the hooking angle; The clamping device and the underwater suction cup device are controlled to release the fixation of the remaining material, and the claw device is controlled to hook the remaining material out of the cutting container and transfer it to a preset waste recycling area.

[0016] In a second aspect, the present application provides a transparent hard and brittle material cutting and separation system, which adopts the following technical solution: A transparent hard and brittle material cutting and separation system, comprising: Acquisition module, used to collect regional image information and cutting information; A memory for storing a program for implementing any of the above-mentioned methods for cutting and separating transparent hard and brittle materials; The processor is configured to load and execute the program stored in the memory.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. After first collecting image information of the pre-cutting area and confirming the characteristics of the plate to be cut, the cutting shape is determined based on the cutting information, an adaptive front pre-cutting route is generated, and an initial groove is formed on the front of the material through the pre-cutting device. After completing the front pre-cutting, the reverse pre-cutting method is used to synchronously form corresponding grooves on the reverse side of the material, so that stress-guiding structures are formed on both sides of the material. This positive and negative collaborative pre-cutting method breaks the limitations of traditional single-direction cutting. By constructing symmetrical initial grooves on both sides of the material, the stress distribution during the cutting process is balanced, and the warping deformation caused by unilateral force is reduced. When the separation is finally completed through the plate cutting method, the synergistic effect of the positive and negative initial grooves guides the material separation path more accurately, effectively solving the deformation problem caused by uneven stress and improving the final separation accuracy of transparent hard and brittle materials; 2. By collecting the depth of the pre-cut groove and the current height of the plate, the initial cutting depth is accurately determined, and then the initial water blowing pressure value is calculated in combination with the liquid height in the container to ensure that the water flow can effectively reach the cutting area without impacting the material due to excessive pressure and causing deformation. Then, based on the final cutting path, the corresponding front water blowing route is planned, and the water blowing pressure is dynamically adjusted according to the depth change value during the cutting process to form a pressure change value adapted to the cutting depth. When the cutting device cuts along the path, the front water blowing device blows water along the route, and the pressure changes synchronously with the cutting depth, so that the water flow can adhere to the inner wall of the groove to form a circulating flow, thereby preventing debris from remaining in the groove and affecting the subsequent cutting path or scratching the material surface. This not only ensures the effectiveness of debris removal at different cutting depths, but also reduces additional interference to the cutting area through water circulation, making the cutting process more stable; 3. Upon detecting the cutting completion signal, the forward and reverse water blowing devices are immediately shut down, and underwater image data is collected. By identifying the features of the cut part, its position and posture are precisely located, providing accurate coordinates for subsequent transport. Based on the cut part's exit position, the optimal auxiliary water blowing position and direction are planned. The auxiliary water flow device is controlled to deliver directional water blowing, using the thrust of the water flow to guide the cut part toward the exit and into the transport device. This not only protects the integrity of the cut part, but also enables efficient transport through the flexible propulsion of the water flow. This completes a closed-loop system with the previous forward and reverse coordinated cutting and dynamic water blowing and clearing mechanisms, further improving the overall automation level and processing quality of the cutting and separation of transparent hard and brittle materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a method flow chart of a method for cutting and separating transparent hard and brittle materials; Figure 2 It is a method flow chart of the plate cutting method; Figure 3 It is a method flow chart of the cutting and fixing method; Figure 4 It is a method flow chart of the cutting water blowing method. DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0020] Reference Figure 1 The present invention discloses a method for cutting and separating transparent hard and brittle materials, comprising the following steps: S1: Acquire regional image information of a preset pre-cut area.

[0021] The pre-cutting area refers to an area for placing the transparent hard and brittle material to be cut. The pre-cutting area is set in advance by those skilled in the art and will not be described in detail here.

[0022] The regional image information refers to the image data obtained by photographing the pre-cut area with a camera.

[0023] S2: When the regional image information contains preset features of the plate to be cut, collecting cutting information.

[0024] The characteristics of the plate to be cut refer to the visual characteristics of the transparent hard and brittle material to be cut. The characteristics of the plate to be cut are set in advance by those skilled in the art and will not be described in detail here.

[0025] Cutting information refers to parameter settings related to cutting (such as cutting size, shape requirements, precision standards, etc.). The cutting information is pre-input by those skilled in the art and will not be described in detail here.

[0026] When the regional image information contains the features of the plate to be cut, it means that pre-cutting operations are required and the cutting information needs to be collected first for subsequent steps.

[0027] S3: Obtaining a cutting shape according to the cutting information.

[0028] The cutting shape refers to the final shape of the plate to be cut. The cutting shape can be retrieved by understanding the cutting information, which contains the cutting shape.

[0029] S4: generating a front pre-cutting route based on the cutting shape.

[0030] The front pre-cutting route is the pre-cutting path planned on the front side of the sheet to be cut (the side initially facing upward is defined as the front side of the sheet to be cut). By understanding the cutting shape, we can understand the contour characteristics of the cut surface and use this to plan a specific cutting path on the front side of the sheet. This is the front pre-cutting route.

[0031] S5: Control the preset pre-cutting device to perform front pre-cutting along the front pre-cutting route, thereby forming an initial front groove.

[0032] The pre-cutting device refers to a device for performing a pre-cutting operation.

[0033] The pre-cutting device is controlled to perform front-side pre-cutting along the front-side pre-cutting route, so that the front side of the to-be-cut plate forms a front-side initial groove.

[0034] S6: After the front-side pre-cutting is completed, the pre-cutting device is controlled to perform back-side pre-cutting in a preset back-side pre-cutting method, so that a back-side initial groove is formed.

[0035] The back-side pre-cutting method refers to a method of pre-cutting the back side of the plate after the front-side pre-cutting of the plate is completed. The specific back-side pre-cutting method is described in detail in subsequent S60 to S63, and is not repeated here.

[0036] After the front-side pre-cutting is completed, the pre-cutting device needs to be controlled to perform back-side pre-cutting in the back-side pre-cutting method, so that the back side of the to-be-cut plate forms a back-side initial groove.

[0037] S7: After the back-side pre-cutting is completed, the to-be-cut material is cut and separated in a preset plate cutting method.

[0038] The plate cutting method refers to a method of finally cutting and separating the plate after the front-side and back-side pre-cutting is completed. The specific plate cutting method is described in detail in subsequent S70 to S76, and is not repeated here.

[0039] After the back-side pre-cutting is completed, the to-be-cut material needs to be cut and separated in the plate cutting method, so that the cutting operation is completed.

[0040] The back-side pre-cutting method includes the following steps: S60: The material after the front-side pre-cutting is turned over, and a preset light device is controlled to be lighted, and light image information is collected.

[0041] The light device refers to a device for lighting after the plate is turned over, so as to clearly photograph the surface features of the plate.

[0042] The light image information refers to the image obtained by photographing the plate after turning over after the light device is turned on. The light image information is obtained by photographing by a camera.

[0043] The material after the front-side pre-cutting is turned over, and the light device is controlled to be lighted, and the light image information is collected, so as to facilitate the subsequent steps. The specific way of turning over is selected by a person skilled in the art according to the actual situation, and is not repeated here.

[0044] S61: The preset cutting groove features are scanned and recognized from the light image information to obtain a front-side projection contour.

[0045] The cutting groove feature refers to the contour feature of the initial groove on the plate to be cut. The cutting groove feature is set in advance by those skilled in the art and will not be described in detail here.

[0046] The front projection profile refers to the projection of the initial front groove onto the back of the sheet after polishing. This profile can be obtained by scanning and identifying the cut groove features within the polished image. Image recognition technology is well-known in the art and will not be elaborated upon here.

[0047] S62: Generate a reverse pre-cutting route based on the front projection contour.

[0048] The reverse side pre-cutting route is a pre-cutting path planned on the reverse side of the sheet based on the front projection contour. Using the front projection contour as a reference, a pre-cutting path is planned on the reverse side of the sheet corresponding to the position of the front pre-cutting route.

[0049] S63: Control the pre-cutting device to perform reverse pre-cutting along the reverse pre-cutting route, thereby forming a reverse initial groove.

[0050] The pre-cutting device is controlled to perform reverse pre-cutting along a reverse pre-cutting route, thereby forming a reverse initial groove on the reverse side of the plate to be cut.

[0051] Reference Figure 2 , the plate cutting method includes the following steps: S70: Perform position recognition on features of the plate to be cut from the regional image information to obtain the current position of the plate.

[0052] The current plate position refers to the position of the plate to be cut within the pre-cutting area. This position can be determined by identifying the position of the plate's features within the image information. Position recognition techniques in images are well-known in the art and will not be detailed here.

[0053] S71: generating clamping parameters in response to the current position of the plate and the preset cutting container position.

[0054] The cutting container position refers to the location of the cutting container. The cutting container is a container used to hold the plate to be cut and provide a cutting environment. The cutting container position is pre-determined by those skilled in the art and will not be described in detail here.

[0055] Clamping parameters are the movement parameters that control the gripping mechanism as it moves the sheet from the pre-cutting area to the cutting container. These parameters are generated by calculating the spatial coordinate difference between the sheet's current position and the cutting container's position, while simultaneously performing path planning to determine the optimal transfer path. These spatial coordinate differences and the planned path are then converted into movement parameters that the gripping mechanism can execute.

[0056] The method of calculating spatial coordinate difference, the path planning method, and the parameter conversion method are all common knowledge in the field, and will not be described here.

[0057] S72: Based on the clamping parameters, control the preset clamping device to clamp the to-be-cut plate into the preset cutting container, and fix the to-be-cut plate by the preset cutting fixing method.

[0058] The clamping device refers to a device for grabbing and transferring the to-be-cut plate.

[0059] The cutting fixing method refers to a method of fixing the to-be-cut plate at a specific position in the cutting container. The cutting fixing method is described in detail in S720 to S724, and will not be described here.

[0060] The clamping device is controlled to clamp the to-be-cut plate into the cutting container with the clamping parameters, and the to-be-cut plate is fixed by the cutting fixing method for subsequent cutting.

[0061] S73: Collect plate parameter information.

[0062] The plate parameter information refers to the physical parameters related to the to-be-cut plate. The plate parameter information is pre-input by those skilled in the art, and will not be described here.

[0063] S74: Based on the plate parameter information, know the plate thickness value and plate material information.

[0064] The plate thickness value refers to the thickness dimension of the to-be-cut plate. The plate material information refers to the material properties of the to-be-cut plate.

[0065] By understanding the plate parameter information, the plate thickness value and the plate material information can be obtained. The plate parameter information includes the plate thickness value and the plate material information.

[0066] S75: Combine the plate thickness value and the plate material information to generate the cutting power.

[0067] The cutting power refers to the output power of the cutting device. The cutting power can be queried by a preset cutting power reference table. The reference table records the combination of different plate material types and corresponding thickness ranges, as well as the recommended cutting power corresponding to each combination. By taking the plate thickness value and the plate material information as query conditions, the corresponding cutting power can be directly matched from the reference table. The cutting power reference table is formulated by those skilled in the art according to the physical properties and thickness parameters of different transparent hard and brittle materials, combined with a large amount of cutting experimental data, and will not be described here.

[0068] S76: determining a final cutting path according to the front pre-cutting path and the back pre-cutting path, and controlling a preset cutting device to perform cutting along the final cutting path at the cutting power.

[0069] The final cutting path is the path along which the material will be cut. This path is created by calibrating the coordinates of the front and back pre-cutting paths, ensuring they are vertically aligned. This creates a complete cutting path that runs through both sides of the material.

[0070] Cutting device refers to the equipment used for the final cutting of separated boards.

[0071] After the final cutting path is obtained, the cutting device needs to be controlled to perform cutting along the final cutting path with a cutting power.

[0072] Reference Figure 3 , the cutting and fixing method comprises the following steps: S720: After the plate to be cut is transferred into the cutting container, image information in the collector is collected.

[0073] In-vessel image information refers to images captured by cutting the interior of a container. The in-vessel image information is captured by a camera.

[0074] When the plate to be cut is transferred to the cutting container, the image information in the device must be collected first for subsequent steps.

[0075] S721: Position recognition is performed on the features of the plate to be cut from the image information in the device to obtain the sinking position of the plate.

[0076] The plate sinking position refers to the position where the plate sinks under the action of gravity after being transferred to the cutting container. By identifying the features of the plate to be cut from the image information within the container, the current position of the plate within the container can be determined, which is the plate sinking position. Image recognition technology is common knowledge in the field and will not be elaborated on here.

[0077] S722: When the sinking position of the plate is consistent with the preset bottom position of the container, feature extraction is performed on the plate to be cut from the image information in the container to obtain the position of the pre-cut groove.

[0078] The container bottom position refers to the location where the container bottom is cut. The pre-cut groove position refers to the specific location of the initial groove on the plate. The pre-cut groove position can be obtained by extracting features of the groove in the plate to be cut from the in-device image information. Image feature extraction techniques are common knowledge in the art and will not be detailed here.

[0079] When the position of the board sinking is consistent with the position of the container bottom, it indicates that the board to be cut has sunk to the bottom of the container, and the pre-cut groove position needs to be identified first for subsequent steps.

[0080] S723: generating an optimal suction position based on the pre-cut groove position.

[0081] The optimal suction position refers to the position on the board to be cut that is suitable for underwater suction cup suction. By determining the distribution area of the grooves on the board from the pre-cut groove position information, then excluding these groove areas on the surface of the board to be cut, the area not occupied by the grooves is screened out, which is the optimal suction position.

[0082] S724: controlling the pre-set underwater suction cup device to move to the optimal suction position, suction and fix the board to be cut, and lift it to a pre-set cutting operation height, and then control the pre-set fixing device to clamp and fix the board to be cut.

[0083] The underwater suction cup device refers to a suction cup device used in the cutting container. The cutting operation height refers to lifting the board to a pre-set height in the cutting container. The cutting operation height is set by the person skilled in the art in advance, and is not described here. The fixing device refers to a device for fixing the board.

[0084] The underwater suction cup device is controlled to move to the optimal suction position to suction and fix the board to be cut, and after suction is completed, the board is lifted to the cutting operation height, and finally the fixing device is controlled to clamp and fix the board to be cut for subsequent processing.

[0085] Reference Figure 4 It also includes a cutting water blowing method: S760: collecting the pre-cut groove depth and the current height of the board.

[0086] The pre-cut groove depth refers to the depth dimension of the front and back initial grooves. The pre-cut groove depth is obtained by depth detection of the pre-cut board. After the pre-cutting of the board is completed, the depth detection of the pre-cut groove is immediately carried out to obtain the pre-cut groove depth. The specific depth detection method is common knowledge in the art, which is not described here.

[0087] The current height of the board refers to the vertical distance between the upper surface of the board after being fixed and the bottom of the cutting container. The current height of the board is measured by an infrared sensor.

[0088] S761: determining the initial cutting depth according to the pre-cut groove depth and the current height of the board.

[0089] The initial cutting depth is the initial cutting depth of the cutting device when it starts cutting. The initial cutting depth is calculated by calculating the difference between the current height of the plate and the depth of the pre-cut groove.

[0090] S762: Obtaining an initial water blowing pressure value according to the initial cutting depth and a preset container liquid height.

[0091] The container liquid height refers to the liquid level of the cutting liquid in the cutting container. The container liquid height is set in advance by those skilled in the art and will not be described in detail here.

[0092] The initial water blowing pressure value refers to the initial pressure when the front water blowing device starts working. The initial water blowing pressure value is obtained by querying the preset water blowing pressure comparison table. The table records different combinations of initial cutting depths and container liquid heights, as well as the initial water blowing pressure values ​​corresponding to each combination. For example, when the initial cutting depth is 2mm and the container liquid height is 10cm, the corresponding initial water blowing pressure value is 0.3MPa; when the initial cutting depth is 5mm and the container liquid height is 15cm, the corresponding initial water blowing pressure value is 0.6MPa, etc. The data in the table are determined by those skilled in the art based on the cutting fluid characteristics, water blowing device performance and debris removal effect tests in actual cutting scenarios, and will not be elaborated here.

[0093] S763: Obtaining a front water blowing route and a cutting depth change value based on the final cutting path.

[0094] The front water blowing route refers to the water blowing trajectory set by the front water blowing device along the final cutting path. Since the water blowing trajectory of the front water blowing device must keep following the cutting trajectory of the cutting device so that the water blowing trajectory and the cutting path are fully adapted, the final cutting path can be used as the front water blowing route.

[0095] The cutting depth variation value refers to the change in cutting depth along the cutting path during the cutting process. The cutting depth variation value is calculated by dividing the final cutting path into several segments. For each segment, the incremental cutting depth is calculated based on the plate thickness and the depth of the pre-cut groove. The specific change in cutting depth along the cutting path during the entire cutting process is then calculated as the cutting depth variation value.

[0096] S764: Combine the cutting depth change value and the initial water blowing pressure value to generate a water blowing pressure change value.

[0097] The water blowing pressure variation value refers to the adjustment value of the water blowing pressure as the cutting depth changes.

[0098] The water pressure change value is obtained by matching it with a preset water pressure change database. This database stores the corresponding combinations of different cutting depth change values ​​and initial water pressure values, as well as the corresponding water pressure adjustment range (i.e., the water pressure change value) for each combination. For example, when the initial water pressure value is 0.4MPa and the cutting depth increases by 1mm, the corresponding pressure change value is +0.05MPa. When the initial water pressure value is 0.6MPa and the cutting depth decreases by 0.5mm, the corresponding pressure change value is -0.03MPa, and so on. The data in the database is derived from extensive cutting experiments. By using the current cutting depth change value and the initial water pressure value as search criteria, the corresponding water pressure change value can be directly matched, achieving dynamic adjustment of the water pressure.

[0099] S765: When the cutting device is cutting along the final cutting path, the preset front water blowing device is controlled to blow water along the front water blowing route, and the water blowing pressure is changed according to the water blowing pressure change value, so that the water flow forms a circulation flow along the inner wall of the groove, thereby removing the debris generated by the cutting.

[0100] The front water blowing device refers to a device used to blow water from the front to remove cutting chips.

[0101] When the cutting device is cutting along the final cutting path, the front water blowing device needs to be synchronously controlled to blow water along the front water blowing route, and the water blowing pressure needs to be changed according to the water blowing pressure change value so that the water flow forms a circulation flow along the inner wall of the groove, thereby removing the debris generated by the cutting.

[0102] The following steps are also included: S766: Collect the current cutting time.

[0103] The current cutting time is the cumulative time from the start of the cutting device to the current moment. The current cutting time is recorded in real time by a preset timing device.

[0104] S767: Combine the current cutting time, the cutting power, and the final cutting path to generate a cutting thickness value.

[0105] The cutting thickness value is the actual thickness of the plate cut by the cutting device during the current cutting time. The cutting thickness value is obtained from a preset cutting thickness association database, which stores the mapping relationship between different current cutting time, cutting power, and final cutting path characteristics and corresponding cutting thickness values.

[0106] The construction of this database is based on a large amount of experimental data. For plates of different materials, at different cutting powers, the actual thickness after cutting along a specific path for different lengths of time is recorded to form standardized data entries.

[0107] For example, when the cutting power is 500W, the current cutting time is 10s, and the final cutting path is a straight line (no corners), the corresponding cutting thickness value is 3mm; if the path contains two 90° corners, the cutting thickness value at the same power and time is 2.8mm.

[0108] During actual calculation, the system uses the characteristic parameters of the current cutting time, cutting power and final cutting path as search conditions, matches the closest combination in the database, and directly retrieves the corresponding cutting thickness value.

[0109] S768: Obtain a remaining cutting thickness value based on the pre-cutting groove depth, the plate thickness value, and the cutting thickness value.

[0110] The remaining thickness is the thickness remaining after deducting the pre-cut groove depth and the cut thickness from the total plate thickness. The remaining thickness is calculated by subtracting the pre-cut groove depth and the cut thickness from the plate thickness.

[0111] S769: Compare the remaining cutting thickness value with a preset critical thickness value.

[0112] The critical thickness value is the thickness threshold used to determine whether to start the back-side water blowing operation. By determining whether the remaining cutting thickness value is less than the critical thickness value, it is known whether the back-side water blowing operation needs to be started.

[0113] S7690: When the remaining cutting thickness is not less than the critical thickness value, continue to collect the current cutting time.

[0114] When the remaining cutting thickness is not less than the critical thickness value, it means that there is no need to start the water blowing operation on the reverse side, and the current cutting time can be continuously collected and steps S766 to S769 can be repeatedly executed.

[0115] S7691: When the remaining cutting thickness is less than the critical thickness value, control the preset back-side water blowing device to perform back-side water blowing using a preset back-side water blowing method.

[0116] The back side water blowing device refers to a device used to blow water from the back side of the plate to remove debris.

[0117] The reverse water blowing method refers to a method for controlling the operation of the reverse water blowing device. The specific reverse water blowing method is described in detail in subsequent S76910 to S76914 and will not be described in detail here.

[0118] When the remaining cutting thickness is less than the critical thickness value, it indicates that the back side water blowing operation needs to be started, and the back side water blowing device needs to be controlled to perform back side water blowing using the back side water blowing method.

[0119] The reverse side water blowing method includes the following steps: S76910: Determine the initial depth of back-side water blowing according to the pre-cut groove depth, the current height of the plate, and the plate thickness value.

[0120] The back-side water blowing initial depth is the depth relative to the back side of the sheet that the water port must reach when the back-side water blowing device begins operating. The back-side water blowing initial depth is calculated by subtracting the sheet thickness from the current sheet height and adding the pre-cut groove depth.

[0121] S76911: Obtain an initial pressure value for back-side water blowing based on the initial depth of back-side water blowing and the height of the liquid in the container.

[0122] The back water blowing initial pressure value refers to the initial output pressure when the back water blowing device is started. The method for determining the back water blowing initial pressure value is the same as that of the above S762 and will not be repeated here.

[0123] S76912: Generate a back-side water blowing pressure change value based on the back-side water blowing initial pressure value, the remaining cutting thickness value, and the water blowing pressure change value.

[0124] The back-side water blowing pressure change value refers to the dynamic adjustment value of the back-side water blowing pressure as the remaining cutting thickness changes. The back-side water blowing pressure change value is obtained by querying a preset back-side pressure database. This database records different combinations of back-side water blowing initial pressure values, remaining cutting thickness values, and front-side water blowing pressure change values, as well as the corresponding back-side water blowing pressure dynamic adjustment value for each combination. For example, when the back-side water blowing initial pressure value is 0.5MPa, the remaining cutting thickness value is 3mm, and the front-side water blowing pressure change value is +0.2MPa, the corresponding back-side water blowing pressure change value is +0.15MPa; when the back-side water blowing initial pressure value is 0.6MPa, the remaining cutting thickness value is 1mm, and the front-side water blowing pressure change value is -0.1MPa, the corresponding back-side water blowing pressure change value is -0.08MPa, and so on.

[0125] The data in the database is obtained based on the collaborative experiment of forward and reverse water blowing. By matching the current reverse water blowing initial pressure value, the remaining cutting thickness value and the forward water blowing pressure change value, the corresponding reverse water blowing pressure change value can be directly queried.

[0126] S76913: Obtain a reverse water blowing route based on the final cutting path.

[0127] The reverse water blowing path refers to the water blowing trajectory set by the reverse water blowing device on the reverse side of the plate along the final cutting path. This reverse water blowing path is calculated by performing mirror adaptation and trajectory synchronization planning based on the final cutting path. The specific mirror adaptation and trajectory synchronization methods are well-known in the art and will not be detailed here.

[0128] S76914: Control the preset back-side water blowing device to blow water along the back-side water blowing route, and change the water blowing pressure according to the back-side water blowing pressure change value.

[0129] The reverse side water blowing device is a device installed in the cutting container for blowing water from the reverse side of the plate.

[0130] The back-side water blowing device is controlled to blow water along the back-side water blowing route, and the water blowing pressure is changed according to the back-side water blowing pressure change value.

[0131] The following steps are also included: S8: Collect cutting signals.

[0132] The cutting signal refers to the status signal of the cutting device during the cutting process. The cutting signal is collected in real time by the signal transceiver.

[0133] S80: When the cutting signal is consistent with the preset cutting completion signal, the front water blowing device and the back water blowing device are turned off, and underwater image information is collected.

[0134] The cutting completion signal is a signal indicating that the cutting device has completed all cutting operations along the final cutting path. The cutting completion signal is set in advance by those skilled in the art and will not be described in detail here.

[0135] The underwater image information refers to the underwater environment image captured by the camera installed in the cutting container after the cutting is completed.

[0136] When the cutting signal is consistent with the cutting completion signal, it means that the plate cutting operation has been completed. The front water blowing device and the back water blowing device need to be turned off, and the underwater image information needs to be collected for subsequent steps.

[0137] S81: Knowing the cutting piece characteristics based on the cutting information.

[0138] Cutting part features refer to the contour features of the target workpiece formed after cutting. Cutting part features can be retrieved by understanding the cutting information, which contains cutting part features.

[0139] S82: Perform image recognition on the features of the cutting piece from the underwater image information to obtain the position and posture of the cutting piece.

[0140] The cutting element position refers to the spatial coordinate position of the cutting element within the cutting container. This is determined by identifying the cutting element's features from the underwater image information and converting it into a preset container coordinate system. The container coordinate system is pre-defined by those skilled in the art and will not be described in detail here.

[0141] The cutter's posture refers to the angle at which the cutter is placed in the water. This is determined by analyzing the direction vectors of the cutter's features in the underwater image information. The specific method for analyzing the direction vectors is well known in the art and will not be detailed here.

[0142] S83: Combining the cutting piece position, the cutting piece posture and the preset cutting piece outlet position to generate an auxiliary water blowing position and water blowing direction.

[0143] The cutting piece exit position refers to the exit position where the cutting piece is moved out of the cutting container to the transport device. The cutting piece exit position is set by those skilled in the art based on the container structure and transport path, and will not be elaborated here.

[0144] The auxiliary water blowing position is the point where the water is blown to propel the cutter toward the exit. This position uses the cutter's exit as the target point and, combined with the cutter's position, determines the final target orientation of the cutter. The spatial orientation of the cutter along its path is then determined based on the cutter's posture. This area, defined on the cutter's surface as a force-bearing region aligned with the direction of movement, serves as the auxiliary water blowing position.

[0145] The water blowing direction refers to the direction of the water jet from the auxiliary water flow device. The water blowing direction is determined by calculating the vector direction from the current position of the cutting element to the cutting element's outlet position. The specific calculation method is common knowledge in the art and will not be detailed here.

[0146] S84: Control the preset auxiliary water flow device to perform directionally blowing water from the auxiliary water blowing position in the water blowing direction to push the cutting piece to move toward the cutting piece outlet position, thereby sending the cutting piece to the preset transportation device for transportation.

[0147] The auxiliary water flow device is a device installed on the inner wall of the cutting container, which is used to spray a directional water flow onto the cut piece after cutting is completed. By precisely controlling the water blowing point and direction, the cut piece is pushed to the outlet.

[0148] The transport device refers to the equipment used to receive the cut pieces removed from the cutting container outlet and transport them to the next process.

[0149] The auxiliary water flow device is controlled to perform directional water blowing from the auxiliary water blowing position in a water blowing direction to push the cut pieces to the cut piece outlet position, and then the cut pieces are sent to the transport device for transport.

[0150] The following steps are also included: S85: performing image recognition based on preset plate features in the underwater image information to obtain the position and shape of the remaining material.

[0151] The plate features refer to the shape features of the remaining material. The plate features are set in advance by those skilled in the art and will not be described in detail here.

[0152] The remaining material position refers to the spatial coordinate position of the remaining portion that has not been separated into the target workpiece after cutting is completed. The method for determining the remaining material position is the same as the method in S82 above and will not be repeated here.

[0153] The residual material form refers to the shape of the residual material. The residual material form is determined by analyzing the contour features and geometric parameters of the residual material in the underwater image information using image recognition technology. Image recognition technology is common knowledge in the art and will not be described in detail here.

[0154] S86: Obtaining a hooking position and a hooking angle according to the position of the remaining material and the shape of the remaining material.

[0155] The hooking position refers to the area on the remaining material suitable for the hooking mechanism. First, based on the remaining material's shape, the hooking mechanism identifies possible hookable areas, such as straight sections, corners, or protrusions within its edge contour (preferably straight edges no shorter than the hook's width to prevent slippage). Then, considering the remaining material's location, the mechanism eliminates areas close to the cutting container wall or other obstacles to ensure sufficient operating space for the hook. Finally, among the identified areas, the one closest to the remaining material's center of gravity is selected as the hooking position.

[0156] The hooking angle refers to the angle at which the claw contacts the remaining material. The hooking angle is determined by first extracting the tangent direction of the edge at the hooking location based on the remaining material's shape. Then, combined with the claw structure of the hooking mechanism, the angle that allows the claw tip to closely contact the edge is calculated. The claw structure of the hooking mechanism is pre-determined by those skilled in the art and will not be detailed here.

[0157] S87: Control the preset hook device to move to the hooking position and hook the edge of the remaining material at the hooking angle.

[0158] The claw device is a device used to grab the remaining material after cutting and move it out of the cutting container.

[0159] The hook device is controlled to move to the hooking position and hook the edge of the remaining material at a hooking angle.

[0160] S88: Control the clamping device and the underwater suction cup device to loosen the fixation of the remaining material, and control the claw device to hook the remaining material out of the cutting container and transfer it to a preset waste recycling area.

[0161] The waste recycling area is an area used to store and recycle residual materials. The waste recycling area is set in advance by those skilled in the art and will not be described in detail here.

[0162] The clamping device and the underwater suction cup device are controlled to release the fixation of the remaining material, and the claw device is controlled to hook the remaining material out of the cutting container and transfer it to the waste recovery area.

[0163] Based on the same inventive concept, an embodiment of the present invention provides a transparent hard and brittle material cutting and separation system, comprising: The acquisition module is used to collect regional image information, cutting information, lighting image information, plate parameter information, in-device image information, pre-cut groove depth, current plate height, current cutting time, cutting signal and underwater image information; A memory for storing a program for implementing a method for cutting and separating transparent hard and brittle materials; The processor is configured to load and execute the program stored in the memory.

[0164] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0165] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for cutting and separating transparent hard and brittle materials, characterized in that: include: Collecting regional image information of a preset pre-cut area; When the regional image information contains preset features of the plate to be cut, collecting cutting information; Determining a cutting shape based on the cutting information; generating a front pre-cutting route based on the cutting shape; Controlling a preset pre-cutting device to perform front pre-cutting along the front pre-cutting route, thereby forming an initial front groove; After the front side pre-cutting is completed, the pre-cutting device is controlled to perform back side pre-cutting using a preset back side pre-cutting method, thereby forming an initial back side groove; After the reverse side pre-cutting is completed, the material to be cut is cut and separated using a preset plate cutting method.

2. A method for cutting and separating transparent hard and brittle materials according to claim 1, characterized in that: The reverse side pre-cutting method comprises: Turn over the pre-cut material on the front side, control the preset lighting device to perform lighting, and collect lighting image information at the same time; Scanning and identifying the preset cutting groove features from the lighting image information to obtain a front projection contour; generating a reverse pre-cutting route based on the front projection contour; The pre-cutting device is controlled to perform reverse pre-cutting along the reverse pre-cutting route, thereby forming a reverse initial groove.

3. A method for cutting and separating transparent hard and brittle materials according to claim 1, characterized in that: The plate cutting method comprises: Performing position recognition on features of the plate to be cut from the regional image information to obtain the current position of the plate; generating clamping parameters in response to the current position of the sheet and a preset cutting container position; Based on the clamping parameters, a preset clamping device is controlled to clamp the plate to be cut into a preset cutting container, and the plate to be cut is fixed using a preset cutting and fixing method; Collect plate parameter information; Based on the plate parameter information, the plate thickness value and plate material information are known; combining the plate thickness value and the plate material information to generate cutting power; A final cutting path is determined according to the front pre-cutting path and the back pre-cutting path, and a preset cutting device is controlled to perform cutting along the final cutting path at the cutting power.

4. A method for cutting and separating transparent hard and brittle materials according to claim 3, characterized in that: The cutting and fixing method comprises: When the plate to be cut is transferred into the cutting container, the image information in the collector is collected; Performing position recognition on the features of the plate to be cut from the image information in the device to obtain the sinking position of the plate; When the sinking position of the plate is consistent with the preset bottom position of the container, feature extraction of the plate to be cut is performed from the image information in the container to obtain the position of the pre-cut groove; Generating an optimal adsorption position based on the position of the pre-cut groove; The preset underwater suction cup device is controlled to move to the optimal adsorption position, the plate to be cut is adsorbed and fixed, and is lifted to a preset cutting operation height, and then the preset fixing device is controlled to clamp and fix the plate to be cut.

5. A method for cutting and separating transparent hard and brittle materials according to claim 3, characterized in that: Also includes: Collect the depth of pre-cut groove and the current height of the plate; determining an initial cutting depth according to the depth of the pre-cut groove and the current height of the plate; Obtaining an initial water blowing pressure value according to the initial cutting depth and a preset container liquid height; Obtaining a front water blowing route and a cutting depth change value based on the final cutting path; combining the cutting depth change value and the initial water blowing pressure value to generate a water blowing pressure change value; When the cutting device is cutting along the final cutting path, the preset front water blowing device is controlled to blow water along the front water blowing route, and the water blowing pressure is changed according to the water blowing pressure change value, so that the water flow forms a circulation flow along the inner wall of the groove, thereby removing the debris generated by the cutting.

6. A method for cutting and separating transparent hard and brittle materials according to claim 5, characterized in that: Also includes: Collect the current cutting time; combining the current cutting time, the cutting power, and the final cutting path to generate a cutting thickness value; Obtaining a remaining cutting thickness value based on the pre-cut groove depth, the plate thickness value, and the cutting thickness value; Comparing the remaining cutting thickness value with a preset critical thickness value; When the remaining cutting thickness is not less than the critical thickness value, continue to collect the current cutting time; When the remaining cutting thickness is less than the critical thickness value, the preset back-side water blowing device is controlled to perform back-side water blowing in a preset back-side water blowing method.

7. A method for cutting and separating transparent hard and brittle materials according to claim 6, characterized in that: The reverse side water blowing method comprises: Determine the initial depth of back-side water blowing according to the depth of the pre-cut groove, the current height of the plate, and the thickness of the plate; Obtaining an initial pressure value of the back-side water blowing according to the initial depth of the back-side water blowing and the height of the liquid in the container; generating a back-side water blowing pressure change value based on the back-side water blowing initial pressure value, the remaining cutting thickness value, and the water blowing pressure change value; Obtaining a reverse water blowing route according to the final cutting path; The preset back-side water blowing device is controlled to blow water along the back-side water blowing route, and the water blowing pressure is changed according to the back-side water blowing pressure change value.

8. A method for cutting and separating transparent hard and brittle materials according to claim 7, characterized in that: Also includes: Collect cutting signals; When the cutting signal is consistent with the preset cutting completion signal, the front water blowing device and the back water blowing device are turned off, and underwater image information is collected; Knowing the cutting piece characteristics based on the cutting information; Performing image recognition on features of the cut piece from the underwater image information to obtain a position and posture of the cut piece; Combining the cutting piece position, the cutting piece posture and the preset cutting piece outlet position to generate an auxiliary water blowing position and water blowing direction; The preset auxiliary water flow device is controlled to perform directionally blowing water from the auxiliary water blowing position in the water blowing direction to push the cutting piece to move toward the cutting piece outlet position, thereby sending the cutting piece to the preset transportation device for transportation.

9. A method for cutting and separating transparent hard and brittle materials according to claim 8, characterized in that: Also includes: Performing image recognition based on preset plate features in the underwater image information to obtain the position and shape of the remaining material; Obtaining a hooking position and a hooking angle according to the position and shape of the remaining material; Controlling a preset hook device to move to the hooking position and hooking the edge of the remaining material at the hooking angle; The clamping device and the underwater suction cup device are controlled to release the fixation of the remaining material, and the claw device is controlled to hook the remaining material out of the cutting container and transfer it to a preset waste recovery area.

10. A transparent hard and brittle material cutting and separation system, characterized in that: include: Acquisition module, used to collect regional image information and cutting information; A memory for storing a program for implementing a method for cutting and separating transparent hard and brittle materials according to any one of claims 1 to 9; The processor is configured to load and execute the program stored in the memory.

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