Numerical control machining equipment
By using the combination of linear array image sensors and light guide components in CNC machining equipment, the distortion problem of position detection on complex profiles is solved, and higher processing accuracy and efficiency are achieved.
Patent Information
- Application Number
- CN202422204003.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-09
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-09
AI Technical Summary
When existing CNC machining equipment processes complex surfaces, the images acquired by the camera are prone to distortion, affecting the accuracy of position detection, and thus affecting the processing accuracy and efficiency.
A linear array image sensor is used to cooperate with light guide components to scan images through a moving device to ensure the perpendicularity of the optical path, reduce imaging distortion, and improve the accuracy of position detection.
It improves the accuracy of position detection of components to be processed on the load table, ensures the accuracy and efficiency of subsequent processing, and reduces cumbersome alignment operations.
Smart Images
Figure CN223129661U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of numerical control machining, in particular to a numerical control machining device. Background Art
[0002] For numerical control machining devices such as laser engraving and cutting machines, it is particularly important to obtain the position of a workpiece to be machined in a machining coordinate system.
[0003] Please refer to Figure 1 , Figure 1 which is a schematic diagram of a numerical control machining device in the related art.
[0004] As Figure 1 shown, in the related art, a numerical control machining device may include a carrying platform 1' and a camera 2'. The camera 2' uses a area array image sensor and is fixed above the carrying platform 1' for photographing the carrying platform 1' and the workpiece A' to be machined, so as to identify the position of the workpiece A' to be machined. However, if the structure of the workpiece A' to be machined is relatively complex, for example, the upper surface is a complex surface with undulations, the captured image obtained by the camera 2' may be severely distorted due to an obvious height difference, affecting the accuracy of position detection, and further affecting the accuracy of subsequent machining of the workpiece A' to be machined.
[0005] Therefore, how to provide a solution to overcome or alleviate the above defects is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Utility Model
[0006] The purpose of the utility model is to provide a numerical control machining device. In this device, a line array image sensor is used in cooperation with an adjusting device for image scanning, and the line array image sensor is equipped with a light guiding component, which can improve the accuracy of position detection of the workpiece to be machined on the carrying platform, and is beneficial to the improvement of subsequent machining accuracy and machining efficiency.
[0007] To solve the above technical problems, the present utility model provides a numerical control processing device, which includes a bearing table, a processing tool, an image acquisition component, and a motion device. The image acquisition component includes a linear array image sensor and a light guiding component. The bearing table is used for bearing the component to be processed. The processing tool is used for processing the component to be processed. The motion device is installed on the bearing table. The linear array image sensor includes a plurality of photosensitive elements linearly arranged along a first direction. The motion device is connected to the image acquisition component and is configured to drive the image acquisition component to be able to move at least along a second direction to scan the bearing table and the component to be processed placed on the bearing table. The second direction and the first direction are arranged at an angle. Both the first direction and the second direction are parallel to the table surface of the bearing table. The light guiding component is arranged on the side of the linear array image sensor facing the component to be processed. The light guiding component is used for guiding light to the linear array image sensor. The light guiding component is configured with a plurality of light guiding channels. The extending direction of the light guiding channels is perpendicular to the table surface. Each light guiding channel corresponds to at least one of the photosensitive elements.
[0008] In the above solution, the embodiment of the present utility model selects to use the image acquisition component in combination with the motion device for image scanning. The linear array image sensor has a better light path perpendicularity. During the process of scanning a complex surface with height fluctuations, the distortion problem can be overcome to a large extent. Furthermore, the accuracy of the position detection of the component to be processed on the bearing table can be improved, which has a positive significance for ensuring the accurate mapping of the subsequent scanning coordinate system and the processing coordinate system, and can largely avoid the cumbersome operations of subsequent users repeatedly aligning or moving the component to be processed, which is beneficial to improving the processing accuracy and processing efficiency. In addition, the above linear array image sensor is also equipped with a light guiding component. The light guiding component is configured with multiple light guiding channels to cooperate with each photosensitive element for use. In this way, the light path direction can be better guaranteed, and the interference between each acquisition light path can be reduced. Moreover, the field of view angle of a single photosensitive element is small to reduce imaging distortion. For points at different heights on the component to be processed, relatively clear images can be obtained, which can ensure the accuracy and restoration degree of detection.
[0009] Moreover, since the above image acquisition component realizes scanning during the motion process, the scans before and after a single motion are basically non-interfering with each other, which can improve the accuracy of scanning.
[0010] Optionally, the number of the light guiding channels is consistent with the number of the photosensitive elements, and each light guiding channel and each photosensitive element are arranged in one-to-one correspondence.
[0011] Optionally, the light guiding component further includes a lens module arranged in each of the light guiding channels.
[0012] Optionally, the lens module includes a collimating lens and a focusing lens, and the collimating lens is closer to the linear image sensor than the focusing lens.
[0013] Optionally, a scanning light source is further included, and the scanning light source is configured to project a supplementary light beam onto the carrier stage.
[0014] Optionally, the moving device includes a first adjusting component and a second adjusting component. The first adjusting component is configured to drive the image acquisition component to move along the second direction, and the second adjusting component is configured to drive the image acquisition component to move along the first direction.
[0015] Optionally, the first adjusting component includes a first driving member and a first guide rail beam. The image acquisition component is directly or indirectly disposed on the first guide rail beam, and the first driving member is connected to the image acquisition component and is configured to drive the image acquisition component to move along the first guide rail beam.
[0016] Optionally, the second adjusting component includes a second driving member and a second guide rail beam. The second guide rail beam is movably connected to the first guide rail beam, and the second driving member is directly or indirectly connected to the image acquisition component and is configured to drive the image acquisition component to move directly or indirectly along the second guide rail beam.
[0017] Optionally, the moving device further includes a third adjusting component. The third adjusting component is movably connected to the first adjusting component or the second adjusting component, and the third adjusting component is configured to drive the image acquisition component to move along a third direction, and the third direction is disposed at an angle to the tabletop.
[0018] The third adjusting component includes a third driving member and a third guide rail beam. The third guide rail beam is movably connected to the first adjusting component or the second adjusting component, and the third driving member is configured to be directly or indirectly connected to the image acquisition component and is configured to drive the image acquisition component to move directly or indirectly along the third guide rail beam.
[0019] Optionally, the first direction and the second direction are perpendicular to each other; and / or, the processing tool is installed on the moving device. Description of the Drawings
[0020] Figure 1 is a schematic diagram of a numerical control machining device in the related art;
[0021] Figure 2 is a structural schematic diagram of the numerical control machining device provided by the present invention;
[0022] Figure 3 is Figure 2 a top view of
[0023] Figure 4 It is a relative position diagram of a linear image sensor and a light guide component;
[0024] Figure 5 It is a schematic diagram of the scanning process of the linear image sensor;
[0025] Figure 6 It is a flowchart of the control method of the numerical control machining equipment provided by the present utility model;
[0026] Figure 7 It is Figure 6 A schematic flowchart of an implementation manner of step S200 in
[0027] Figure 8 It is Figure 6 A schematic flowchart of an implementation manner of step S210 in
[0028] Figure 1 The description of the reference numerals in is as follows:
[0029] 1′ Carrying platform, 2′ Camera, A′ Workpiece to be machined;
[0030] Figures 2 - 5 The description of the reference numerals in is as follows:
[0031] 1 Carrying platform, 11 Tabletop;
[0032] 2 Linear image sensor, 21 Photosensitive element;
[0033] 3 Moving device, 31 First adjusting component, 311 First driving part, 312 First guide beam, 32 Second adjusting component, 321 Second driving part, 322 Second guide beam, 33 Third adjusting component, 331 Third driving part, 332 Third guide beam;
[0034] 4 Light guide component, 41 Light guide channel, 42 Lens module, 421 Collimating lens, 422 Focusing lens;
[0035] 5 Scanning light source;
[0036] A Workpiece to be machined, S1 First area, S2 Second area, S3 Third area. Detailed implementation manners
[0037] In order to enable those skilled in the art to better understand the technical solution of the present utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0038] In the description of the embodiments of the present utility model, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third" may explicitly or implicitly include one or more of such features.
[0039] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, "connected" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.
[0040] In the description of the embodiments of the present utility model, the term "a plurality of" means two or more. And when using "a plurality of" to represent the quantity of different components, it does not represent the mutual relationship in quantity of these components.
[0041] In the description of the embodiments of the present utility model, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.
[0042] In the embodiments of the present utility model, "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.
[0043] In the description of the embodiments of the present utility model, "vertical" means substantially vertical, and "parallel" means substantially parallel, both allowing for a certain error.
[0044] Please refer to Figures 2 - 5 , Figure 2 which is a schematic structural diagram of the numerical control machining equipment provided by the present utility model, Figure 3 is Figure 2 the top view of Figure 4 which is a relative position diagram of the linear image sensor and the light guide component, Figure 5 and
[0045] such as Figure 2 and Figure 3As shown in the figure, the present utility model provides a numerical control processing device, which can be, for example, a laser engraving and cutting machine, a laser welding machine, a knife cutting machine, a 3D printer, etc. It includes a carrier table 1, an image acquisition component, a motion device 3, and a processing tool (not shown in the figure). Among them, the image acquisition component includes a line array image sensor 2 and a light guiding component 4.
[0046] The carrier table 1 has a tabletop 11, and the tabletop 11 can be used to carry the component A to be processed. The specific type of the component A to be processed is not limited here. In some implementation manners, the component A to be processed can be directly placed on the tabletop 11. In other implementation manners, positioning components such as limit blocks, jigs, and adsorption components that can position the component A to be processed can also be provided on the tabletop 11, which can reduce the possibility of the component A to be processed shifting during use and improve the processing accuracy.
[0047] The line array image sensor 2 can acquire a line image. It should be understood that the "line" here actually has a certain width. The extending direction of this line, that is, the extending direction of the line array image sensor 2. In the embodiment of the present utility model, this scanning direction is also called the first direction. The line array image sensor 2 can include a plurality of photosensitive elements 21, and each photosensitive element 21 is linearly arranged along the first direction. Each photosensitive element 21 is used to receive a light signal and convert it into an electrical signal.
[0048] Each photosensitive element 21 has a collection optical path. Combining Figure 2 , the optical axis of the collection optical path can be perpendicular to the tabletop 11, so as to scan the component A to be processed and the tabletop 11 from a top view perspective. Thus, the position of the component A to be processed on the tabletop 11 can be obtained based on the image scanned and acquired by the line array image sensor, so as to facilitate subsequent processing of the component A to be processed by the processing tool, such as engraving, cutting, etc. In the embodiment of the present utility model, the tabletop 11 and the component A to be processed located on the tabletop 11 form a scanned object.
[0049] The light guiding component 4 can be located on the side of the line array image sensor 2 facing the component A to be processed. The light guiding component 4 is used to guide the light reflected by the scanned object to the line array image sensor 2. The light guiding component 4 can include a plurality of light guiding channels 41. The extending direction of each light guiding channel 41 is perpendicular to the tabletop 11, that is, the center lines of each light guiding channel 41 are parallel to the optical axes of each photosensitive element 21, and each light guiding channel 41 is correspondingly provided with one or more photosensitive elements 21. In this way, the optical path direction can be better guaranteed to reduce imaging distortion, and clearer images can be obtained for position points at different heights on the component A to be processed, which can ensure the accuracy and restoration degree of detection.
[0050] For example, for the to-be-processed part A with a color gradient area, if a linear array image sensor for single-point photographing in the related art is used to acquire an image, mutual interference easily occurs among different color parts of the color gradient area, which easily affects the accuracy of the finally acquired image. After adopting the embodiment of the present utility model, different color parts can be scanned by different photosensitive elements 21, and the acquisition optical paths of different photosensitive elements 21 can be separated to a certain extent by different light guiding channels 41 of the light guiding component 4. This can reduce the mutual influence among different color parts of the color gradient area, with less imaging distortion, and the obtained scanned image can be closer to the true information of the to-be-processed part A, and the restoration accuracy can be relatively high.
[0051] In practical applications, the number of the light guiding channels 41 can be less than the number of the photosensitive elements 21. At this time, at least one light guiding channel 41 is correspondingly used for multiple photosensitive elements 21. Alternatively, the number of the light guiding channels 41 and the number of the photosensitive elements 21 can be the same. At this time, each light guiding channel 41 and each photosensitive element 21 can be arranged in one-to-one correspondence, and the optical axis of each photosensitive element 21 coincides with the center line of the light guiding channel 41. The acquisition optical path of each photosensitive element 21 can be limited in the corresponding light guiding channel 41, and the field angle of each acquisition optical path can be relatively small, which has a more positive significance for reducing distortion and improving imaging quality.
[0052] The light guiding component 4 may further include a lens module 42 disposed in each light guiding channel 41. The lens module 42 can be used to perform modulation processing such as collimation and focusing on the optical signal reflected back by the object to be scanned, so that the optical signal collected by the photosensitive element 21 is more accurate and the image clarity is higher. Combining Figure 4 , in a specific example, the lens module 42 may include a collimating lens 421 and a focusing lens 422. The collimating lens 421 is closer to the linear array image sensor 2 than the focusing lens 422. The focusing lens 422 can converge the divergent optical signal, and the collimating lens 421 can collimate the optical signal to ensure the perpendicularity of the optical path to a greater extent.
[0053] The moving device 3 is installed on the carrier 1, and the image acquisition assembly is installed on the moving device 3. The moving device 3 is configured to drive the image acquisition assembly to be able to move at least along a second direction. The second direction and the first direction are arranged at an angle. The above angle can be 90 degrees (i.e., the first direction and the second direction are perpendicular), or other values, which can be specifically adjusted according to actual usage needs. In short, during the process that the moving device 3 drives the image acquisition assembly to move along the second direction, the image acquisition assembly can realize the scanning of the to-be-processed part A and the table top 11. Both the first direction and the second direction can be parallel to the table top 11 of the carrier 1.
[0054] Compare Figure 1 andFigure 2 It can be seen that in the embodiment of the present utility model, the image acquisition component adopts a linear image sensor 2, which has better optical path perpendicularity. During the scanning of a complex surface with height fluctuations, the distortion problem can be overcome to a large extent, thereby improving the accuracy of position detection of the workpiece A to be processed on the carrier 1. This has a positive significance for ensuring the accurate mapping of the subsequent scanning coordinate system and the processing coordinate system, can largely avoid the cumbersome operations of subsequent users repeatedly aligning or moving the workpiece A to be processed, and is beneficial to improving the processing accuracy and processing efficiency.
[0055] The motion device 3 may include a first adjustment component 31, and the first adjustment component 31 is used to realize the displacement of the image acquisition component in the second direction.
[0056] Combined with Figure 2 and Figure 3 , the first adjustment component 31 may include a first driving member 311 and a first guide rail beam 312. The first guide rail beam 312 may extend in the second direction, and the first guide rail beam 312 may serve as a guide rail. The image acquisition component may be indirectly or directly disposed on the first guide rail beam 312, and the first driving member 311 may be directly or indirectly connected to the image acquisition component to provide a driving force for the image acquisition component, and may drive the linear image sensor 2 to move directly or indirectly along the first guide rail beam 312. The first guide rail beam 312 can provide guidance to ensure the stability of the sliding of the image acquisition component.
[0057] The embodiment of the present utility model does not limit the specific structural form of the first driving member 311. In practical applications, those skilled in the art can select according to specific needs as long as the requirements can be met. For example, the first driving member 311 may adopt a linear cylinder, a linear oil cylinder and other linear driving elements that can directly output linear displacement. Specifically, it may include a cylinder body and a piston rod, and the first driving member 311 may output the driving force of linear displacement through the piston rod; or, the first driving member 311 may also adopt a motor, a rotary cylinder and other rotary driving elements that can directly output rotary displacement. At this time, the first driving member 311 may further include a displacement conversion mechanism in the form of a gear rack mechanism, a lead screw mechanism, a belt mechanism, etc., so as to convert the rotary displacement output by the rotary driving element into the required linear displacement.
[0058] Furthermore, the motion device 3 may further include a second adjustment component 32, and the second adjustment component 32 may be configured to be able to drive the image acquisition component to move along the first direction, so as to adjust the relative position between the image acquisition component and the workpiece A to be processed in the first direction, thereby facilitating the scanning and detection of the workpiece A to be processed. Among them, the first adjustment component 31 is movably connected to the second adjustment component 32, and the image acquisition component is disposed on the first adjustment component 31 or the second adjustment component 32.
[0059] The second adjusting member 32 may also include a second driving member 321 and a second guide rail beam 322. The image acquisition assembly may be indirectly or directly disposed on the second guide rail beam 322. The second driving member 321 may be directly or indirectly connected to the image acquisition assembly to provide a driving force for the image acquisition assembly, and may drive the image acquisition assembly to move directly or indirectly along the second guide rail beam 322, so as to realize the position adjustment of the linear array image sensor 2 in the first direction. The second guide rail beam 322 may specifically extend along the first direction and can provide sliding guidance in the first direction. The specific structural form of the second driving member 321 may refer to the description of the foregoing first driving member 311, and no repetitive description will be made here.
[0060] Combined with Figure 3 , the image acquisition assembly has a field of view angle, the size of which in the first direction is the first scanning size L1, and the size of the table 11 in the first direction is the first size L2. Generally, the first size L2 > the first scanning size L1. Under this condition, in order to achieve a comprehensive scan of the object to be scanned, a scan trajectory can be pre-formulated. The numerical control machining equipment in the embodiment of the present invention may further include a controller (not shown in the figure), and the above scan trajectory may be pre-stored in the controller. The controller and the above motion device 3 and the image acquisition assembly may all be communicatively connected for starting and stopping control of the motion device 3.
[0061] During specific scanning, the controller may control the motion device 3 to start, so that the motion device 3 controls the image acquisition assembly to move along the above scan trajectory; during this process, the image acquisition assembly may sequentially scan the object to be scanned at each position of the scan trajectory, and each scan may obtain a partial scan sub-image. The image acquisition assembly may send the partial scan sub-image it obtains to the controller. When the image acquisition assembly traverses the above scan trajectory under the drive of the motion device 3, the controller may obtain all the partial scan sub-images, and then, the controller may splice the partial scan sub-images to finally obtain a complete scan image of the object to be scanned.
[0062] The embodiment of the present invention does not limit the moving speed of the motion device 3 to drive the image acquisition assembly. In practical applications, those skilled in the art may determine it in combination with relevant parameters such as the scanning frequency of the image acquisition assembly, as long as it can ensure a complete scan of the object to be scanned. Specifically, for the partial scan sub-images obtained by two adjacent scans of the image acquisition assembly, the two may just join, or there may be partial overlap between the two to avoid missing a scanned part between two adjacent scans.
[0063] In addition, the embodiments of the present utility model do not limit the specific trajectory of the above scanning trajectory. In practical applications, those skilled in the art can set it according to specific needs, etc., as long as it can meet the usage requirements.
[0064] In some alternative implementation manners, the embodiments of the present utility model can first partition the object to be scanned to divide the object to be scanned into multiple mutually independent scanning areas. When the controller drives and controls the motion device 3, it can control the image acquisition component to perform partitioned scanning on each scanning area. That is, it can first scan one of the scanning areas. After the scanning of this scanning area is completed, then scan other scanning areas until the scanning of all the scanning areas is completed.
[0065] At this time, the scanning trajectory can include the intra-region scanning trajectory within each scanning area and the inter-region switching trajectory for switching between different scanning areas.
[0066] In a specific example, in combination with Figure 3 , the object to be scanned can be divided into N scanning areas in the first direction, N>1. The size of each scanning area in the first direction is less than or equal to L1, and two adjacent scanning areas in the first direction can just be joined or there is partial overlap. In short, the combination of N scanning areas should be able to achieve full coverage of the object to be processed. In this example, the intra-region scanning trajectory extends along the second direction, which is from left to right or from right to left in Figure 3 , and the inter-region switching trajectory extends along the first direction, which is from top to bottom or from bottom to top in Figure 3 .
[0067] It should be understood that the magnitude of the above N value can be related to the magnitudes of L2 and L1. Specifically, if L2 is an integer multiple of L1, then N can be directly taken as L2 / L1; if L2 / L1 is not an integer value, then L2 / L1 can be first processed by the truncation method to retain the integer part of the quotient obtained by L2 / L1, and then add 1 to obtain the above N value. In the field of mathematics, the operation symbol of the truncation method is (), so N=(L2 / L1)+1. For example, when L2 / L1 = 1.5, after the truncation method operation, the decimal part 0.5 can be removed, and then add 1, that is, N = 2. That is to say, by performing two scans, the complete scanning of the component A to be processed can be basically achieved.
[0068] In a more specific example, assuming N = 3, in combination with Figure 5, the three scanning areas from top to bottom can be named the first area S1, the second area S2, and the third area S3 respectively. The image acquisition component can start scanning from the left side of the first area S1. Then, the scanning trajectory includes three intra-area scanning trajectories and two inter-area switching trajectories. The intra-area scanning trajectory within the first area S1 extends from left to right. The image acquisition component can perform successive scans along this intra-area scanning trajectory, and each scan can obtain a partial scanned sub-image until the entire first area S1 is traversed along this intra-area scanning trajectory to complete all scans of the first area S1. For example, the first area S1 is divided into multiple acquisition positions from left to right. Each time it reaches an acquisition position, the line array image sensor is controlled to acquire an image, and then it moves to the next acquisition position to acquire another image until the last acquisition position is reached. The first inter-area switching trajectory is located on the right side of the table 11. Thus, the intra-area scanning trajectory within the second area S2 extends from right to left. The image acquisition component can perform successive scans along this intra-area scanning trajectory, and each scan can obtain a partial scanned sub-image until the entire second area S2 is traversed along this intra-area scanning trajectory to complete all scans of the second area S2. The second inter-area switching trajectory is located on the left side of the table 11. Thus, the intra-area scanning trajectory within the third area S3 extends from left to right. The image acquisition component can perform successive scans along this intra-area scanning trajectory, and each scan can obtain a partial scanned sub-image until the entire third area S3 is traversed along this intra-area scanning trajectory to complete all scans of the third area S3.
[0069] When the controller stitches and obtains the scanned image, it can stitch each partial scanned sub-image obtained by the image acquisition component. Or, it can also first stitch the partial scanned sub-images of each scanning area to obtain the area-scanned sub-image of each scanning area, and then stitch the area-scanned sub-images of each scanning area. The specific stitching method can refer to the related technology and is not limited here. For example, the partial scanned sub-images can be stitched according to the coordinate information when each partial scanned sub-image is acquired or according to the feature points binding of each acquired partial scanned sub-image itself, so as to achieve a relatively high image stitching quality.
[0070] It should be understood that in some other implementation manners of the embodiments of the present invention, the division of the scanning area can also be along the second direction. In this implementation manner, the second scanning dimension L3 of the image acquisition component in the second direction and the second dimension L4 of the table 11 in the second direction can be obtained first, and then the number of scanning areas can be determined according to L4 / L3. At this time, the intra-area scanning trajectory extends along the first direction ( Figure 3 the up and down direction in Figure 3 ), and the inter-area switching trajectory extends along the second direction ( the left and right direction in
[0071] ).In addition, when the image acquisition component moves along the inter-domain switching trajectory, the main purpose is to move the image acquisition component from one scanning area to another. Therefore, during this process, the line array image sensor 2 may not perform the scanning and photographing task to reduce the number of layout scanning sub-images it acquires, and thus reduce the subsequent splicing workload. Of course, during the movement along the inter-domain switching trajectory, the image acquisition component can also perform normal scanning and photographing, which is also feasible.
[0072] In fact, the first dimension L2 can also be less than or equal to the first scanning dimension L1. Referring to Figure 3 , in this implementation manner, directly controlling the image acquisition component to move from left to right or from right to left can complete the scanning and photographing of the object to be scanned at one time.
[0073] Furthermore, the motion device 3 may further include a third adjustment member 33. The third adjustment member 33 can be configured to be able to drive the image acquisition component to move along a third direction. The third direction and the table 11 can be arranged at an angle, and this angle can be, for example, 90 degrees. Of course, it can also be other angular values. Under the action of the third adjustment member 33, the image acquisition component can move in the third direction, and can adjust the relative position of the image acquisition component and the workpiece A to be processed in the third direction, and can change the installation height of the line image acquisition component. In this way, it can largely avoid interference and collision between the image acquisition component and the workpiece A to be processed when the image acquisition component scans along the second direction, thereby avoiding collision damage to the image acquisition component and the workpiece A to be processed.
[0074] The first adjustment member 31 is movably connected to the second adjustment member 32, the third adjustment member 33 is movably connected to the second adjustment member 32 or the first adjustment member 31, and the image acquisition component is disposed on the first adjustment member 31, or the second adjustment member 32, or the third adjustment member 33. It can be understood that the image acquisition component can be indirectly disposed on another component through one of the first adjustment member 31, the second adjustment member 32, and the third adjustment member 33, and then indirectly disposed on the third component.
[0075] The third adjustment member 33 may also include a third driving member 331 and a third guide rail beam 332 extending along the third direction. The third driving member 331 can be directly or indirectly connected to the image acquisition component to provide driving force for the image acquisition component, and can drive the image acquisition component to move directly or indirectly along the third guide rail beam 332, so as to realize the position adjustment of the image acquisition component in the third direction. The third guide rail beam 332 can specifically extend along the third direction and can provide sliding guidance in the third direction. The specific structural form of the third driving member 331 can refer to the foregoing description of the first driving member 311, and no repetitive description will be made here.
[0076] In addition, the embodiments of the present utility model do not limit the connection relationship between the first guide beam 312, the second guide beam 322, and the third guide beam 332. In actual applications, those skilled in the art can adjust according to specific needs, as long as it can meet the position movement of the image acquisition component in three directions.
[0077] In a specific example, as Figure 2 and Figure 3 shown, the number of the first guide beams 312 can be two, and the two first guide beams 312 can be respectively arranged on both sides of the carrier 1 in the first direction. The number of the third guide beams 332 can also be two, and the two third guide beams 332 can be respectively installed on the two first guide beams 312. A second guide beam 322 can be arranged between the two third guide beams 332, and the image acquisition component is arranged on the second guide beam 322. At this time, the second adjusting member 32 is equivalent to being installed on the third adjusting member 33, and the third adjusting member 33 is equivalent to being installed on the first adjusting member 31. The first driving member 311 is used to drive the third guide beam 332 to move along the first guide beam 312, and the third driving member 331 is used to drive the second guide beam 322 to move along the third guide beam 332. In another specific example, the number of the first guide beams 312 can be two, the number of the second guide beam 322 and the third guide beam 332 is one. The two first guide beams 312 can be respectively arranged on both sides of the carrier 1 in the first direction. Both ends of the second guide beam 322 are slidably connected to the two first guide beams 312, the third guide beam 332 is slidably arranged on the second guide beam 322, and the image acquisition component is arranged on the third guide beam 332.
[0078] In some alternative implementation manners, the numerical control processing equipment can also be provided with a scanning light source 5. The scanning light source 5 is used to project a supplementary light beam onto the carrier 1 to increase the brightness, so as to improve the quality of image acquisition. The scanning light source 5 can be located on the outer periphery of the image acquisition component to make the light beam collected by the image acquisition component more uniform. Of course, it can also be located at other positions. The scanning light source 5 can also be connected to the motion device 3 and can move together with the image acquisition component.
[0079] In the embodiments of the present utility model, the specific type of the processing tool is related to the specific type of the numerical control processing equipment in the embodiments of the present utility model, and is not limited herein. For example, when the numerical control processing equipment in the embodiments of the present utility model is a laser engraving and cutting machine, the processing tool can be a laser head, a cutter head, etc., which can be directly configured on the aforementioned motion device 3 to perform position adjustment under the drive of the motion device 3, or it can also be configured with an independent position adjustment component, as long as it can meet the usage needs of its position adjustment.
[0080] Please refer toFigures 6 - 8 , Figure 6 is a flowchart of the control method for the numerical control machining equipment provided by the present utility model. Figure 7 is Figure 6 a schematic flowchart of an implementation manner of step S200 in Figure 8 is Figure 6 a schematic flowchart of an implementation manner of step S210 in
[0081] As Figure 6 shown, the present utility model also provides a control method for a numerical control machining equipment, which is applicable to the numerical control machining equipment involved in the foregoing implementation manners. The above control method may include the following scanning step S200.
[0082] Preparation step S100, setting the workpiece A to be machined on the carrier table 1.
[0083] The process of moving the workpiece A to be machined onto the carrier table 1 may be completed by manual operation or by an automated device such as a manipulator, and is not limited herein.
[0084] Scanning step S200, controlling the motion device to drive the image acquisition component to move, and synchronously controlling the image acquisition component to acquire multiple images of the object to be scanned, so as to obtain a scanned image of the object to be scanned. In the embodiment of the present utility model, the object to be scanned includes the tabletop 11 and the workpiece A located on the tabletop 11.
[0085] Since the image acquisition component has a better optical path perpendicularity, therefore, the above control method can largely overcome the distortion problem, can improve the accuracy of position detection of the workpiece A on the carrier table 1, and is beneficial to ensuring the machining accuracy and machining efficiency of the workpiece A in the subsequent operation process.
[0086] As described above, when performing the above scanning step S200, scanning can be performed according to the scanning trajectory. Thus, the above step S200 may include: acquisition step S210, acquiring the scanning trajectory; shift scanning step S220, controlling the motion device 3 to drive the image acquisition component to move along the scanning trajectory, and sequentially acquiring local scanned partial images of the object to be scanned at each position of the scanning trajectory through the image acquisition component; stitching step S230, stitching the local scanned partial images to obtain a scanned image.
[0087] During the execution of the above shift scanning step S220, the moving speed of the motion device 3 can be adjusted in combination with the scanning frequency of the image acquisition component, so that the local scanned partial images obtained by two adjacent scans of the image acquisition component can be exactly joined, or there may be partial overlap, so as to avoid missed scanned parts between two adjacent scans.
[0088] In some alternative implementations, the above-mentioned obtaining step S210 may include: an obtaining sub-step S211 of obtaining a first scanning size L1 of the image acquisition component in a first direction and a first size L2 of the table 11 in the first direction, where L2 > L1; a partitioning step S212 of partitioning the object to be scanned into N scanning regions along the first direction according to the first scanning size L1 and the first size L2, where N > 1. In each of the scanning regions, two adjacent scanning regions in the first direction exactly join or have partial overlap, and the combination of the N scanning regions can cover the object to be scanned. The size of each scanning region in the first direction is less than or equal to L1; a trajectory determination step S213 of generating a scanning trajectory according to the N scanning regions. The scanning trajectory includes N intra-region scanning trajectories and N - 1 inter-region switching trajectories. Each intra-region scanning trajectory extends along a second direction, and each intra-region scanning trajectory corresponds one-to-one to each scanning region. Two adjacent intra-region scanning trajectories in the first direction are connected by an inter-region switching trajectory. The manner of obtaining the value of N refers to the relevant description above and will not be repeated here.
[0089] In this way, the image acquisition component can complete successive scanning of each scanning region along each intra-region scanning trajectory. After scanning of one scanning region is completed, the image acquisition component can switch between different scanning regions along the corresponding inter-region switching trajectory.
[0090] It should be understood that in some other implementations of the embodiments of the present invention, the division of the scanning regions may also be along the second direction. In this implementation manner, the second scanning size L3 of the image acquisition component in the second direction and the size L4 of the table 11 in the second direction can be obtained first, and then the number of scanning regions can be determined according to L4 / L3; the intra-region scanning trajectories extend along the first direction ( Figure 3 the up-down direction in Figure 3 it), and the inter-region switching trajectories extend along the second direction (
[0091] the left-right direction in it).
[0092] In addition, the first dimension L2 can also be less than or equal to the first scanning dimension L1. In this case, the execution process of step S200 can be relatively simple. Referring to the foregoing Figure 3 , it only needs to control the image acquisition component to move from left to right or from right to left, and the scanning and photographing of the object to be scanned can be completed at one time without performing steps S210 to S230.
[0093] After obtaining the complete scanned image, the position of the component to be processed in the table 11 in the scanned image can be calculated, and then the position of the component to be processed on the table 11 in the actual scene can be obtained to complete the position recognition of the component to be processed. In this way, the accurate processing of the component to be processed can be achieved by the processing tool.
[0094] In addition, after obtaining the complete scanned image, a top-down restoration including the bottom bed and the image of the object to be processed can also be generated in the host computer to determine a reasonable layout of the processing task based on the top-down restoration.
[0095] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.
Claims
1. A numerical control machining device, characterized in that, It includes a carrier stage, a processing tool, an image acquisition component, and a motion device. The image acquisition component includes a line array image sensor and a light guiding component; The carrier stage is used to carry the component to be processed. The motion device is installed on the carrier stage. The processing tool is used to process the component to be processed. The line array image sensor includes a plurality of photosensitive elements linearly arranged along a first direction; The motion device is connected to the image acquisition component and is configured to drive the image acquisition component to be able to move at least along a second direction to scan the carrier stage and the component to be processed placed on the carrier stage. The second direction and the first direction are arranged at an angle. Both the first direction and the second direction are parallel to the surface of the carrier stage; The light guiding component is arranged on the side of the line array image sensor facing the component to be processed. The light guiding component is used to guide the light reflected by the carrier stage and the component to be processed to the line array image sensor. The light guiding component is configured with a plurality of light guiding channels. The extending direction of the light guiding channels is perpendicular to the surface of the stage. Each light guiding channel corresponds to at least one of the photosensitive elements.
2. The numerical control machining equipment according to claim 1, characterized in that, The number of the light guiding channels is consistent with the number of the photosensitive elements, and each light guiding channel and each photosensitive element are arranged in one-to-one correspondence.
3. The numerical control machining equipment according to claim 2, characterized in that The light guiding component further includes a lens module arranged in each light guiding channel. The lens module includes a collimating lens and a focusing lens. The collimating lens is closer to the line array image sensor than the focusing lens.
4. The numerical control machining equipment according to claim 1, characterized in that, It further includes a scanning light source. The scanning light source is used to project a supplementary light beam onto the carrier stage.
5. The numerical control machining equipment according to any one of claims 1-4, characterized in that, The motion device includes a first adjustment component and a second adjustment component. The first adjustment component is movably connected to the second adjustment component. The image acquisition component is arranged on the first adjustment component or the second adjustment component. The first adjustment component is configured to drive the image acquisition component to move along the second direction. The second adjustment component is configured to drive the image acquisition component to move along the first direction.
6. The numerical control machining equipment according to claim 5, characterized in that, The first adjustment component includes a first driving member and a first guide rail beam. The image acquisition component is directly or indirectly arranged on the first guide rail beam. The first driving member is connected to the image acquisition component and is used to drive the image acquisition component to move along the first guide rail beam.
7. The numerical control machining equipment according to claim 6, characterized in that, The second adjustment component includes a second driving member and a second guide rail beam. The second guide rail beam is movably connected to the first guide rail beam. The second driving member is directly or indirectly connected to the image acquisition component and is used to drive the image acquisition component to directly or indirectly move along the second guide rail beam.
8. The numerical control machining equipment according to claim 5, characterized in that The motion device further includes a third adjustment component. The third adjustment component is movably connected to the first adjustment component or the second adjustment component. The third adjustment component is configured to drive the image acquisition component to move along a third direction. The third direction is arranged at an angle with the surface of the stage.
9. The numerical control machining equipment according to claim 8, wherein, The third adjusting member includes a third driving member and a third guide rail beam. The third guide rail beam is movably connected to the first adjusting member or the second adjusting member. The third driving member is configured to be directly or indirectly connected to the image acquisition assembly, and is used to drive the image acquisition assembly to move directly or indirectly along the third guide rail beam.
10. The numerical control machining equipment according to any one of claims 1-4, characterized in that, The first direction and the second direction are perpendicular to each other; and / or, The processing tool is mounted on the motion device.