Intelligent engraving equipment for building decoration special-shaped component

Abstract

Intelligent engraving equipment for building decoration special-shaped components comprises an engraving platform, an engraving mechanical arm, a central control processing system and an image obtaining module, the engraving mechanical arm, the central control processing system and the image obtaining module are all assembled on the engraving platform, and the engraving platform is used for engraving the building decoration special-shaped components. The clamping module is used for clamping and fixing a to-be-carved workpiece, the image acquisition module is used for acquiring a workpiece image of the to-be-carved workpiece, and the central control processing system is used for acquiring an actual tool path according to a target carved image, acquiring position information of the to-be-carved workpiece according to the workpiece image and sending the position information to the to-be-carved workpiece. And the engraving mechanical arm is controlled according to the position information and the actual tool path, and the engraving mechanical arm is used for engraving the workpiece to be engraved. Compared with a manual carving mode, the intelligent carving equipment for the building decoration special-shaped component is high in carving efficiency, high in precision and low in rejection rate, the overall safety is improved, and the cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of engraving equipment, and in particular to an intelligent engraving equipment for special-shaped building decorative components. Background Art

[0002] Special-shaped bricks are highly sought after for their unique shapes and decorative effects. Currently, the production of special-shaped bricks relies primarily on manual labor. Due to the characteristics of the brick material, the cutting process often results in breakage and cracking, resulting in high scrap rates. Furthermore, manual processing falls far short of meeting the efficiency requirements of existing projects. Therefore, there is an urgent need for a special-shaped brick cutting solution that can improve production efficiency, reduce costs, enhance safety, and adapt to diverse market demands. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an intelligent engraving device for special-shaped components of architectural decoration, which has high engraving efficiency, high precision, and low scrap rate compared to manual engraving methods, thereby improving overall safety and reducing costs.

[0004] The present invention provides an intelligent engraving device for special-shaped components of architectural decoration, comprising an engraving platform, an engraving robot arm, a central control and processing system, and an image acquisition module. The engraving robot arm, the central control and processing system, and the image acquisition module are all assembled on the engraving platform. The engraving platform is used to clamp and fix a workpiece to be engraved. The image acquisition module is used to acquire an image of the workpiece to be engraved. The central control and processing system is used to acquire an actual tool path according to a target engraving image, acquire position information of the workpiece to be engraved according to the workpiece image, and control the engraving robot arm according to the position information and the actual tool path. The engraving robot arm is used to engrave the workpiece to be engraved.

[0005] In one embodiment, the engraving robot arm includes a base, a plurality of arm bodies, a plurality of transmission components and an engraving tool. The base is mounted on the engraving platform. The plurality of arm bodies are rotatably connected through a transmission component to form a robot arm group. The robot arm group is connected to the base and the engraving tool.

[0006] In one embodiment, the engraving platform includes a platform body and a clamping member, the clamping member is assembled on the platform body, and the engraving robot arm, the central control processing system and the image acquisition module are all assembled on the platform body.

[0007] In one embodiment, the clamping member includes a clamping robot arm and a pneumatic clamping claw, the clamping robot arm is assembled on the platform, and the pneumatic clamping claw is assembled on the clamping robot arm.

[0008] In one embodiment, the engraving tool adopts an ISO20 tool holder and is equipped with an ER20 chuck.

[0009] In one embodiment, the central control processing system includes:

[0010] A conversion module, configured to convert the target engraving image into the curved surface or mesh surface;

[0011] A projection point generation module, configured to perform isoparametric partitioning on the curved surface or mesh surface to generate a plurality of projection points in a parameter space;

[0012] The actual tool path generation module is used to map the projection points onto a virtual curved surface to form an actual tool path on the virtual curved surface.

[0013] In one embodiment, the projection point generation module includes:

[0014] The equal division quantum module is used to determine the number of equal divisions in the u and v directions;

[0015] The isoparametric partitioning submodule is used to perform isoparametric partitioning on the curved surface or mesh surface, thereby generating a plurality of projection points in the parameter space.

[0016] In one embodiment, the actual tool path generation module includes:

[0017] A virtual surface generation submodule, configured to construct a virtual surface according to the workpiece to be engraved;

[0018] The path generation submodule is used to map the projection points onto the virtual curved surface and connect the projection points in sequence to form the actual tool path.

[0019] Compared with manual engraving, the intelligent engraving equipment for special-shaped architectural decorative components provided by the present invention has high engraving efficiency, high precision, and low scrap rate, thereby improving overall safety and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a structural schematic diagram of the intelligent engraving equipment for architectural decorative special-shaped components provided by the present invention.

[0022] Figure 2This is a structural schematic diagram of the engraving robot arm of the intelligent engraving equipment for architectural decorative special-shaped components provided by the present invention. DETAILED DESCRIPTION

[0023] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, and not all, of the embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the description of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0024] In the description of the present invention, unless otherwise specified or limited, the terms "disposed," "installed," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; and direct or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms based on the specific circumstances.

[0025] The directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience and simplification of description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0026] The terms "first," "second," "third," etc. are merely used to distinguish between elements of similar nature and do not indicate or imply relative importance or a particular order.

[0027] The terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0028] See also Figure 1 The intelligent engraving equipment for architectural decorative special-shaped components provided by the present invention includes an engraving platform 2, an engraving robot arm 1, a central control processing system 3 and an image acquisition module. The engraving robot arm 1, the central control processing system 3 and the image acquisition module are all assembled on the engraving platform 2. The engraving platform 2 is used to clamp and fix the workpiece to be engraved. The image acquisition module is used to obtain the workpiece image to be engraved. The central control processing system 3 is used to obtain the actual tool path according to the target engraving image, obtain the position information of the workpiece to be engraved according to the workpiece image, and control the engraving robot arm according to the position information and the actual tool path. The engraving robot arm 1 is used to engrave the workpiece to be engraved.

[0029] It can be known that when performing engraving operations, the central control processing system 3 can construct a target engraving image or directly import a target engraving image, and can obtain the actual tool path. The image acquisition module can be a camera, which obtains a workpiece picture of the workpiece to be engraved. The central control processing system 3 obtains the position information of the workpiece to be engraved based on the workpiece picture. The position information can be three-dimensional coordinate information, and the coordinate points of the edge can be used as the position information. After the workpiece to be engraved is fixed on the engraving platform 2, the engraving robot arm 1 engraves the workpiece to be engraved according to the instructions of the central control processing system 3, and the engraving robot arm 1 engraves according to the actual tool path.

[0030] See also Figure 2 In some embodiments, the engraving robot arm 1 includes a base 103, a plurality of arm bodies 101, a plurality of transmission components 102 and an engraving tool 104. The base 103 is assembled on the engraving platform 2. The plurality of arm bodies 101 are rotatably connected through the transmission component 102 to form a robot arm group. The robot arm group is connected to the base 103 and the engraving tool 104.

[0031] It can be known that the base 103 can be bolted to the engraving platform 2, and the several arms 101 are rotatably connected through the transmission assembly 102, so as to facilitate the rotation adjustment of various angles, thereby facilitating the adjustment of the path of the engraving tool 104. It can also include a protective cover 5, and the engraving robot arm 1 is located inside the protective cover 5, which can effectively prevent dust from flying during the engraving process.

[0032] See also Figure 1 In some embodiments, the engraving platform 2 includes a platform 201 and a clamping member, the clamping member is assembled on the platform 201 , and the engraving robot 1 , the central control processing system 3 and the image acquisition module are all assembled on the platform 201 .

[0033] It is understandable that a placement seat 4 may be further provided on the platform 201 for placing the workpiece to be engraved, and the engraving robot arm 1 will be adjusted to this position for grabbing.

[0034] See also Figure 1 In some embodiments, the clamping member includes a clamping robot arm 202 and a pneumatic clamp 203 . The clamping robot arm 202 is assembled on the platform 201 , and the pneumatic clamp 203 is assembled on the clamping robot arm 202 .

[0035] As can be seen, the structure of the gripping robot 202 can be similar to that of the engraving robot 1 described above. The gripping robot 202 adjusts the position of the pneumatic gripper 203 to grasp the workpiece to be engraved. The gripping surface of the pneumatic gripper 203 features a non-slip design, enhancing grip reliability and ensuring that the workpiece does not loosen during the engraving process. The pneumatic gripper 203 can also be equipped with a contact sensor to determine the position of the workpiece in real time. In the event of an emergency, all workstation operations can be stopped immediately, ensuring the safety of the operator and the integrity of the equipment.

[0036] Please continue reading Figure 2 In some embodiments, the engraving tool 104 uses an ISO20 tool holder and is equipped with an ER20 chuck.

[0037] The ER20 chuck can be equipped with six tool holders, meeting requirements from rapid roughing to fine engraving. The tool holder is pre-installed with various engraving tools. When a tool needs to be replaced, the existing tool is placed in the corresponding position on the tool holder and the required tool is removed.

[0038] See also Figure 1 ,In some embodiments, the central control processing system 3 includes;

[0039] The conversion module is used to convert the target engraving image into a curved surface or mesh surface.

[0040] It is understandable that the target engraving image can be converted into a grayscale image and normalized, each pixel value corresponds to a vertex, the vertex information is represented by three-dimensional coordinates, the vertices are connected by patches, and filtering optimization is performed to form a curved surface or mesh surface.

[0041] The projection point generation module is used to perform isoparametric division on a curved surface or a mesh surface to generate a number of projection points in a parameter space.

[0042] It can be known that the above-mentioned projection point generation module further includes:

[0043] The equal division quantum module is used to determine the number of equal divisions in the u and v directions;

[0044] The isoparametric partitioning submodule is used to perform isoparametric partitioning on a surface or a mesh surface, thereby generating a number of projection points in the parameter space.

[0045] It is understandable that isoparametric division can be performed through Grasshopper, and the number of equal divisions can be selected according to actual needs. The number of equal divisions determines the density of the projection points, and the endpoints of the isoparametrically divided segments are used as projection points in the parameter space.

[0046] The actual tool path generation module is used for mapping the projection points onto the virtual surface to form an actual tool path on the virtual surface.

[0047] It can be known that the above-mentioned actual tool path generation module may further include:

[0048] The virtual surface generation submodule is used to construct a virtual curve according to the workpiece to be engraved.

[0049] It can be understood that the virtual curved surface can be constructed according to the shape of the workpiece to be engraved.

[0050] The path generation submodule is used to map the projection points onto the virtual surface and connect the projection points in sequence to form the actual tool path.

[0051] It can be understood that the mapping method can be to use spherical projection to map. During mapping, the position of each projection point can be projected according to the actual relative position. One of the points can be used as a basis to connect the base point with the adjacent points, and then the adjacent points are connected with their adjacent points. The above steps are followed in sequence to form the actual tool path. The actual tool path can also be filtered to make the actual tool path smoother. Different path generation strategies can be called according to the different engraving tools (such as ball-end tools, flat-bottom tools, V-shaped tools, etc.) to ensure that the tool path is adapted to the tool shape. The actual tool path can be exported as standard G-code or custom format, and can be sent to multiple CNC platforms (such as GRBL controller, Robot Arm, 3-axis / 5-axis engraving machine, etc.) for easy actual deployment.

[0052] It can be known that, according to the position information of the workpiece to be engraved, an initial engraving point is determined on the workpiece to be engraved, and engraving is performed on the workpiece to be engraved according to the actual tool path.

[0053] It is understandable that the above steps may further include:

[0054] Determine the location information of the workpiece to be engraved.

[0055] The position information may be determined by the boundary of the workpiece to be engraved.

[0056] The relative position of the target engraving image on the workpiece to be engraved is determined based on the position information.

[0057] Determine the geometric boundaries of the workpiece to be engraved;

[0058] The relative position of the target engraving image on the workpiece to be engraved is determined according to the position information of the target engraving image relative to the geometric boundary.

[0059] It can be known that each coordinate point on the actual tool path is determined relative to the position information of the workpiece to be engraved. Therefore, each engraving point on the actual tool path can be determined according to the position information of the workpiece to be engraved.

[0060] Determine the initial engraving point on the workpiece to be engraved.

[0061] It can be understood that the initial engraving point can be a randomly selected point on the boundary of the actual tool path.

[0062] Carve on the workpiece to be engraved according to the actual tool path.

[0063] It is understandable that the processing depth can be controlled by the tool path offset (offset distance), and the depth can also be dynamically adjusted based on the surface normal information to meet the relief engraving needs of complex surfaces.

[0064] From the above description, it can be seen that the intelligent engraving equipment for architectural decorative special-shaped components provided by the present invention has high engraving efficiency, high precision, and low scrap rate compared to manual engraving methods, thereby improving overall safety and reducing costs.

[0065] The foregoing 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 readily conceived by a person skilled in the art within the technical scope disclosed herein are intended to be encompassed within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An intelligent engraving device for special-shaped building decoration components, characterized in that: It includes an engraving platform, an engraving robot arm, a central control processing system and an image acquisition module. The engraving robot arm, the central control processing system and the image acquisition module are all assembled on the engraving platform. The engraving platform is used to clamp and fix the workpiece to be engraved. The image acquisition module is used to acquire the workpiece image to be engraved. The central control processing system is used to acquire the actual tool path according to the target engraving image, acquire the position information of the workpiece to be engraved according to the workpiece image, and control the engraving robot arm according to the position information and the actual tool path. The engraving robot arm is used to engrave the workpiece to be engraved.

2. The intelligent engraving device for special-shaped building decoration components according to claim 1, characterized in that: The engraving robot arm includes a base, a plurality of arm bodies, a plurality of transmission components and an engraving tool. The base is assembled on the engraving platform. The plurality of arm bodies are rotatably connected through the transmission component to form a robot arm group. The robot arm group is connected to the base and the engraving tool.

3. The intelligent engraving device for special-shaped building decoration components according to claim 1, characterized in that: The engraving platform includes a platform body and a clamping member, wherein the clamping member is assembled on the platform body, and the engraving robot arm, the central control processing system and the image acquisition module are all assembled on the platform body.

4. The intelligent engraving device for special-shaped building decoration components according to claim 3, characterized in that: The clamping member comprises a clamping mechanical arm and a pneumatic clamping claw. The clamping mechanical arm is assembled on the platform, and the pneumatic clamping claw is assembled on the clamping mechanical arm.

5. The intelligent engraving device for special-shaped building decoration components according to claim 1, characterized in that: The engraving tool adopts an ISO20 tool handle and is equipped with an ER20 chuck.

6. The intelligent engraving device for special-shaped building decoration components according to claim 1, characterized in that: The central control processing system includes: A conversion module, configured to convert the target engraving image into the curved surface or mesh surface; A projection point generation module, configured to perform isoparametric partitioning on the curved surface or mesh surface to generate a plurality of projection points in a parameter space; The actual tool path generation module is used to map the projection points onto a virtual curved surface to form an actual tool path on the virtual curved surface.

7. The intelligent engraving device for special-shaped building decoration components according to claim 6, characterized in that: The projection point generation module includes: The equal division quantum module is used to determine the number of equal divisions in the u and v directions; The isoparametric partitioning submodule is used to perform isoparametric partitioning on the curved surface or mesh surface, thereby generating a plurality of projection points in the parameter space.

8. The intelligent engraving device for special-shaped building decoration components according to claim 6, characterized in that: The actual tool path generation module includes: A virtual surface generation submodule, configured to construct a virtual surface according to the workpiece to be engraved; The path generation submodule is used to map the projection points onto the virtual curved surface and connect the projection points in sequence to form the actual tool path.

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