CN111069702B - Full-automatic groove system and method - Google Patents
Full-automatic groove system and method Download PDFInfo
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- CN111069702B CN111069702B CN201911243567.0A CN201911243567A CN111069702B CN 111069702 B CN111069702 B CN 111069702B CN 201911243567 A CN201911243567 A CN 201911243567A CN 111069702 B CN111069702 B CN 111069702B
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Abstract
A full-automatic groove system and a method relate to the technical field of automatic grooves, and the full-automatic groove system is used for performing grooves on parts and comprises a moving device, a working platform for bearing the parts to be subjected to groove, an acquisition device, a display device, an input device, a control device and a groove device; the full-automatic beveling method comprises seven steps. The whole groove process does not need operators to monitor the groove working site in real time and adjust the groove according to requirements, the labor intensity of the operators is greatly reduced, and the working environment of the operators is greatly optimized because the operators are far away from the groove working site and do not need to suck waste gas for a long time.
Description
Technical Field
The invention relates to the technical field of automatic beveling, in particular to a full-automatic beveling system and method.
Background
The groove is a groove with a certain geometric shape which is processed and assembled at the part to be welded of a weldment, and is mainly used for welding a workpiece to ensure tight welding, so that the groove is one of essential procedures before welding.
At present, most beveling machines of branch factories for preparing materials are manual equipment, which comprises a guide rail and a bevel trolley, an operator is required to move the guide rail and the bevel trolley to a specific position of a to-be-beveled groove, the bevel trolley is started to move along the guide rail to carry out the beveling, but the shape of the guide rail is fixed, the bevel trolley can only move along the guide rail, the operator is required to monitor and adjust the guide rail in real time to change the moving direction of the bevel trolley, the labor intensity of the operator is increased undoubtedly, moreover, a large amount of waste gas can be generated on the bevel working site, the operator monitors the bevel working on the bevel working site in real time, so that the operator can suck waste gas for a long time, and the working environment is severe.
Disclosure of Invention
In view of the above, it is necessary to provide a full-automatic beveling system which can not only reduce the labor intensity of the operator, but also optimize the working environment of the operator;
it is also necessary to provide a full-automatic beveling method which can reduce the labor intensity of operators and optimize the working environment of the operators.
A full-automatic groove system is used for performing groove on a part and comprises a mobile device, a working platform for bearing the part to be groove, an acquisition device, a display device, an input device, a control device and a groove device, wherein the mobile device is arranged close to the working platform, the acquisition device is fixed on the mobile device, the acquisition device is used for scanning the part to be groove on the working platform by the mobile device responding to the movement operation of an operator after setting a three-dimensional space reference point so as to generate corresponding part information and provide the part information to the display device, the display device displays the corresponding three-dimensional simulation part according to the part information, the input device responds to the operator to select and set the groove on the three-dimensional simulation part displayed by the display device, generates corresponding groove information and transmits the groove information to the control device, the control device controls the movement of the mobile device according to the groove information, the groove device is fixed on the mobile device and driven by the mobile device to move to the groove position of the corresponding part on the working platform, and then the control device controls the movement of the groove device so as to groove the corresponding part on the working platform, wherein the part information comprises the size of the part and the position coordinate of the part, the position coordinate of the part takes the three-dimensional space reference point as the origin of coordinates, the groove information comprises the position coordinate of the groove, the angle of the groove, the length of the chamfer side of the groove and the length of the side of the groove, and the origin of coordinates of the position coordinate of the groove is the same as the origin of coordinates of the position coordinate of the part; the acquisition device, the control device, the display device and the beveling device are all provided with the same three-dimensional reference point before use, and the three-dimensional reference point is positioned on the working platform so as to enable coordinate points provided for the four devices to correspond to each other.
Preferably, the acquisition device is a 3D recognition camera.
Preferably, the control device comprises a mobile control unit and a groove control unit, the mobile control unit is electrically connected with the mobile device, the groove control unit is electrically connected with the groove device, the mobile control unit is used for receiving groove information provided by the input device and controlling the mobile device to move to a corresponding groove position coordinate on the working platform according to a groove position coordinate in the groove information, and the groove control unit is used for receiving the groove information provided by the input device and controlling the groove device on the mobile device to groove a part on the corresponding working platform according to a groove angle, a groove chamfer side length and a groove side length in the groove information.
Preferably, the moving device comprises a support frame, a positioning rod, a transverse moving rod, a first driver, a longitudinal moving rod, a second driver and a third driver, the support frame fixedly supports the positioning rod, the transverse moving rod and the longitudinal moving rod are both arranged higher than the working platform, the end part of the transverse moving rod is connected with the positioning rod in a sliding mode and perpendicular to the positioning rod in the same plane, the first driver is used for driving the transverse moving rod to slide along the positioning rod, the longitudinal moving rod is connected with the transverse moving rod in a sliding mode and perpendicular to the transverse moving rod in different planes, the second driver is used for driving the longitudinal moving rod to slide along the transverse moving rod, the third driver is used for driving the longitudinal moving rod to slide along the self direction, the three moving directions of the transverse moving rod and the longitudinal moving rod are directions of three coordinate axes in space, the collecting device and the groove device are both fixed at the end part, close to one end of the working platform, and the collecting device and the groove device are driven by the first driver, the second driver, The third driver drives the transverse moving rod and the longitudinal moving rod to move so as to drive the collecting device and the beveling device to move in the space; the mobile control unit is electrically connected with the first driver, the second driver and the third driver, so that the mobile control unit receives the groove position coordinate in the groove information and then respectively controls the first driver, the second driver and the third driver according to the coordinate value, and further drives the transverse moving rod and the longitudinal moving rod to move.
Preferably, the beveling device comprises a beveling machine head and a fourth driver, the fourth driver is used for driving the beveling machine head to move, the bevel control module is electrically connected with the fourth driver so as to control the fourth driver according to the information after receiving the bevel angle, the bevel chamfer side length and the bevel side length in the bevel information through the bevel control unit, and the fourth driver drives the beveling machine head to bevel.
The invention also provides a full-automatic beveling method, which is characterized by comprising the following steps: the method comprises the following steps:
setting a working platform, a collecting device and a display device for bearing a part to be beveled, determining a three-dimensional reference point, wherein the three-dimensional reference point is positioned on the working platform, setting the three-dimensional reference point to the collecting device and the display device, and placing the part on the working platform;
arranging a mobile device, and fixing a collecting device on the mobile device;
arranging a beveling device, and fixing the beveling device on a mobile device;
an operator controls the mobile device to move, the mobile device drives the acquisition device to scan the part on the working platform to acquire part information, the part information is provided for the display device, and the display device displays the corresponding three-dimensional simulation part according to the part information;
setting a control device and an input device, and setting the three-dimensional reference point to the control device;
the operator determines the concrete bevel content according to the three-dimensional simulation part, and performs the selection and setting operation of the bevel on the three-dimensional simulation part displayed by the display device through the input device, the input device responds to the operation of the operator, generates the corresponding bevel information, and transmits the bevel information to the control device;
the control device controls the moving device to move according to the groove information, the moving device drives the groove device to move to the groove position of the corresponding part on the working platform, and the control device controls the groove device to move so as to perform groove processing on the corresponding part on the working platform.
Preferably, the part information comprises a part size and a part position coordinate, the part position coordinate takes the three-dimensional space reference point as an origin of coordinates, the groove information comprises a groove position coordinate, a groove angle, a groove chamfer side length and a groove side length, and the origin of coordinates of the groove position coordinate is the same as the origin of coordinates of the part position coordinate; the acquisition device is a 3D recognition camera.
Preferably, the step of "setting a mobile device and fixing the collecting device on the mobile device" specifically comprises: the device is provided with a support frame, a positioning rod, a transverse moving rod, a first driver, a longitudinal moving rod, a second driver and a third driver, wherein the acquisition device is fixed at the end part of one end of the longitudinal moving rod close to a working platform, the support frame fixedly supports the positioning rod, the transverse moving rod and the longitudinal moving rod are both arranged higher than the working platform, the end part of the transverse moving rod is connected with the positioning rod in a sliding way and the two ends of the transverse moving rod and the positioning rod are vertical in the same plane, the first driver is used for driving the transverse moving rod to slide along the direction of the positioning rod, the longitudinal moving rod is connected with the transverse moving rod in a sliding way and the two ends of the longitudinal moving rod are vertical in different planes, the second driver is used for driving the longitudinal moving rod to slide along the direction of the transverse moving rod, the third driver is used for driving the longitudinal moving rod to slide along the self direction, the three moving directions of the transverse moving rod and the longitudinal moving rod are respectively the directions of three coordinate axes in space, and the control device is electrically connected with the first driver, the second driver and the third driver, the control device drives the first driver, the second driver and the third driver to drive the transverse moving rod and the longitudinal moving rod to move, and then the collecting device is driven to move in the space above the working platform.
Preferably, the step of "setting the beveling device and fixing the beveling device on the moving device" specifically comprises: the end part of one end, close to the working platform, of the longitudinal moving rod is fixed to the end part of one end of the longitudinal moving rod, the fourth driver is used for driving the end part of the beveling machine to move, the control device is electrically connected with the fourth driver, the fourth driver is driven by the control device to drive the end part of the beveling machine to move, and then beveling is conducted on corresponding parts on the working platform.
Preferably, the step of "setting the control device" is specifically: the control device is arranged and comprises a mobile control unit and a groove control unit, wherein the mobile control unit is electrically connected with a first driver, a second driver and a third driver, and the mobile control unit receives the groove position coordinate in the groove information provided by the input device and then respectively controls the first driver, the second driver and the third driver to drive according to the coordinate value, so that the transverse moving rod and the longitudinal moving rod are driven to move, and the acquisition device and the head of the groove machine are driven to move; the groove control unit is electrically connected with the fourth driver, and the groove control unit receives the groove angle, the groove chamfer side length and the groove side length in the groove information provided by the input device and then controls the fourth driver to drive according to the information, so as to drive the head of the groove machine to perform groove.
By adopting the technical scheme, the invention has the beneficial effects that: the part information passes through the collection system, the display device displays the three-dimensional simulation part, an operator only needs to determine the specific groove content by checking the three-dimensional simulation part displayed by the display device, the input device selects and sets the groove for the three-dimensional simulation part displayed by the display device, the input device responds to the operation of the operator, corresponding groove information is generated, the groove information is transmitted to the control device, the control device controls the moving device according to the groove information, the groove device is matched to perform specific groove operation, the whole groove process does not need the operator to monitor the groove working site in real time and adjust the groove working site as required, the labor intensity of the operator is greatly reduced, and the working environment of the operator is greatly optimized because the operator is far away from the groove working site and does not need to suck waste gas for a long time.
Drawings
Fig. 1 is a schematic diagram of functional modules of a full-automatic beveling system.
FIG. 2 is a schematic structural diagram of the beveling apparatus.
Fig. 3 is a flow chart of a fully automatic beveling method.
In the figure: the full-automatic beveling system 10, the part 20, the moving device 30, the support frame 31, the positioning rod 32, the transverse moving rod 33, the longitudinal moving rod 34, the working platform 40, the acquisition device 50, the display device 60, the input device 70, the control device 80, the movement control unit 81, the beveling control unit 82, the beveling device 90 and the beveling machine head 91.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Referring to fig. 1, an embodiment of the present invention provides a full-automatic beveling system 10 for beveling a part 20, including a mobile device 30, a working platform 40 for bearing the part 20 to be beveled, an acquisition device 50, a display device 60, an input device 70, a control device 80, and a beveling device 90, where the mobile device 30 is disposed near the working platform 40, the acquisition device 50 is fixed on the mobile device 30, the acquisition device 50 is configured to, after setting a three-dimensional reference point, drive the part 20 to be beveled on the working platform 40 to be scanned by the mobile device 30 in response to a moving operation of an operator, so as to generate corresponding part information and provide the part information to the display device 60, the display device 60 displays a corresponding three-dimensional simulation part according to the part information, the operator determines specific bevel content according to the three-dimensional simulation part displayed by the display device 60, the input device 70 is used for selecting and setting the bevel content, the input device 70 responds to the operation of the operator to generate the corresponding bevel information, and transmits the groove information to the control device 80, the control device 80 controls the mobile device 30 to move according to the groove information, the groove device 90 is fixed on the mobile device 30, the groove device 90 is driven by the mobile device 30 to move to the groove position of the corresponding part 20 on the working platform 40, the control device 80 controls the groove device 90 to move so as to groove the corresponding part 20 on the working platform 40, the part information comprises a part size and a part position coordinate, the part position coordinate takes the three-dimensional space reference point as a coordinate origin, the groove information comprises a groove position coordinate, a groove angle, a groove chamfer side length and a groove side length, and the coordinate origin of the groove position coordinate is the same as the coordinate origin of the part position coordinate; the acquisition device 50, the control device 80, the display device 60, and the beveling device 90 all set the same three-dimensional reference point before use, and the three-dimensional reference point is located on the work platform 40 so that coordinate points provided for the above four correspond to each other. The acquisition device 50 performs scanning by an operator remotely controlling the mobile device 30, the display device 60 is a display screen, and the input device 70 is a mouse or a button.
Further, the collecting device 50 is a 3D recognition camera, and the 3D recognition camera uses an extreme optical eye (ViEye line laser stereo camera).
Further, the control device 80 includes a mobile control unit 81 and a groove control unit 82, the mobile control unit 81 is electrically connected to the mobile device 30, the groove control unit 82 is electrically connected to the groove device 90, the mobile control unit 81 is configured to receive groove information provided by the input device 70 and control the mobile device 30 to move to a corresponding groove position coordinate on the working platform 40 according to a groove position coordinate in the groove information, and the groove control unit 82 is configured to receive the groove information provided by the input device 70 and control the groove device 90 located on the mobile device 30 to groove the part 20 on the corresponding working platform 40 according to a groove angle, a groove chamfer side length, and a groove side length in the groove information. The control device 80 uses a PLC.
Referring to fig. 2, further, the moving device 30 includes a supporting frame 31, a positioning rod 32, a traverse rod 33, a first driver, a vertical moving rod 34, a second driver, and a third driver, the supporting frame 31 fixedly supports the positioning rod 32, the traverse rod 33 and the vertical moving rod 34 are both disposed higher than the working platform 40, an end of the traverse rod 33 is slidably connected to the positioning rod 32 and both are perpendicular to each other in the same plane, the first driver is configured to drive the traverse rod 33 to slide along the positioning rod 32, the vertical moving rod 34 is slidably connected to the traverse rod 33 and both are perpendicular to each other in different planes, the second driver is configured to drive the vertical moving rod 34 to slide along the traverse rod 33, the third driver is configured to drive the vertical moving rod 34 to slide along its own direction, three moving directions of the traverse rod 33 and the vertical moving rod 34 are directions of three coordinate axes in space, the collecting device 50 and the beveling device 90 are both fixed on an end of the vertical moving rod 34 close to one end of the working platform 40, the first driver, the second driver and the third driver are driven to drive the transverse moving rod 33 and the longitudinal moving rod 34 to move, and further drive the collecting device 50 and the beveling device 90 to move in the space; the movement control unit 81 is electrically connected to the first driver, the second driver, and the third driver, so that the movement control unit 81 receives the groove position coordinate in the groove information and then controls the first driver, the second driver, and the third driver according to the coordinate value, thereby driving the traverse bar 33 and the vertical bar 34 to move. The first driver, the second driver and the third driver are all remotely controllable motors. The number of the support frames 31 is four, the number of the traverse rods 33 is two, and every two support rods 31 are respectively arranged at two ends of each traverse rod 33.
Referring to fig. 2, further, the beveling apparatus 90 includes a beveling machine head 91 and a fourth driver, the fourth driver is used for driving the beveling machine head 91 to move, the bevel control module is electrically connected to the fourth driver to receive the bevel angle, the bevel chamfer side length and the bevel side length in the bevel information through the bevel control unit 82, and then control the fourth driver according to the information, the fourth driver drives the beveling machine head 91 to bevel, the beveling machine head 91 includes a first degree-of-freedom rotating rod, a second degree-of-freedom rotating rod and a beveling knife, one end of the first degree-of-freedom rotating rod is rotatably connected to an end of the vertical moving rod 34 close to one end of the working platform 40, the first degree-of-freedom rotating rod and the vertical moving rod 34 are located on the same straight line, so that the first degree-of-freedom rotating rod can axially rotate, and the other end of the first degree-of-freedom rotating rod is rotatably connected to one end of the second degree-freedom rotating rod, and a fixed included angle exists between the first degree-of-freedom rotary rod and the second degree-of-freedom rotary rod, so that the second degree-of-freedom rotary rod can rotate by taking the first degree-of-freedom rotary rod as a rotary central shaft, the other end of the second degree-of-freedom rotary rod is fixedly connected with the bevel cutter, the bevel cutter is driven to rotate by rotating the first degree-of-freedom rotary rod and the second degree-of-freedom rotary rod, two fourth drivers are used for respectively driving the first degree-of-freedom rotary rod and the second degree-of-freedom rotary rod, and each fourth driver is a remotely-controllable motor.
Further, the movement control unit 81 controls the movement distance of the traverse rod 33 and the traverse rod 34 by controlling the number of rotations of the first driver, the second driver, and the third driver, and the bevel control unit 82 controls the first-degree-of-freedom rotating rod and the second-degree-of-freedom rotating rod by controlling the number of rotations and the rotation angle of the fourth driver.
Referring to fig. 3, an embodiment of the present invention further provides a full-automatic beveling method, which is characterized in that: the method comprises the following steps:
step S900, a working platform, an acquisition device and a display device for bearing a part to be beveled are arranged, a three-dimensional reference point is determined and is positioned on the working platform, the three-dimensional reference point is set for the acquisition device and the display device, and the part is placed on the working platform; the acquisition device is a 3D recognition camera;
step S901, a support frame, a positioning rod, a transverse moving rod, a first driver, a longitudinal moving rod, a second driver and a third driver are arranged, a collecting device is fixed at the end part of one end of the longitudinal moving rod close to a working platform, the support frame fixedly supports the positioning rod, the transverse moving rod and the longitudinal moving rod are both arranged higher than the working platform, the end part of the transverse moving rod is connected with the positioning rod in a sliding way and the two ends of the transverse moving rod and the positioning rod are vertical in the same plane, the first driver is used for driving the transverse moving rod to slide along the direction of the positioning rod, the longitudinal moving rod is connected with the transverse moving rod in a sliding way and the two ends of the longitudinal moving rod are vertical in different planes, the second driver is used for driving the longitudinal moving rod to slide along the direction of the transverse moving rod, the third driver is used for driving the longitudinal moving rod to slide along the self direction, the three moving directions of the transverse moving rod and the longitudinal moving rod are respectively the directions of three coordinate axes in space, and a control device is electrically connected with the first driver, the second driver and the third driver, the control device drives the first driver, the second driver and the third driver to drive the transverse moving rod and the longitudinal moving rod to move, so as to drive the collecting device to move in the space above the working platform;
step S902, a beveling machine head and a fourth driver are arranged, the beveling machine head is fixed at the end part of one end, close to the working platform, of the longitudinal moving rod, the fourth driver is used for driving the beveling machine head to move, and the control device is electrically connected with the fourth driver so as to drive the fourth driver to drive the beveling machine head to move through the control device and further bevel corresponding parts on the working platform;
step S903, an operator controls the mobile device to move, the mobile device drives the acquisition device to scan the part on the working platform to acquire part information, the part information is provided for the display device, and the display device displays the corresponding three-dimensional simulation part according to the part information; the part information comprises part size and part position coordinates, and the part position coordinates take the three-dimensional space reference point as a coordinate origin;
step S904, a control device is arranged and comprises a mobile control unit and a groove control unit, wherein the mobile control unit is electrically connected with a first driver, a second driver and a third driver, and the mobile control unit receives the groove position coordinate in the groove information provided by the input device and then respectively controls the first driver, the second driver and the third driver to drive according to the coordinate value, so that the transverse moving rod and the longitudinal moving rod are driven to move, and the acquisition device and the head of the groove machine are driven to move; the groove control unit is electrically connected with the fourth driver, and controls the fourth driver to drive according to the information after receiving the groove angle, the groove chamfer side length and the groove side length in the groove information provided by the input device, so as to drive the beveling machine head to bevel, set the input device and set the three-dimensional reference point to the control device;
step S905, an operator determines specific groove content according to the three-dimensional simulation part, and performs groove selection and setting operation on the three-dimensional simulation part displayed by the display device through the input device, the input device responds to the operation of the operator, generates corresponding groove information, and transmits the groove information to the control device; the groove information comprises groove position coordinates, groove angles, groove chamfer side lengths and groove side lengths, and the coordinate origin of the groove position coordinates is the same as the coordinate origin of the part position coordinates;
and step S906, the control device controls the moving device to move according to the groove information, the moving device drives the groove device to move to the groove position of the corresponding part on the working platform, and the control device controls the groove device to move so as to perform groove on the corresponding part on the working platform.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a full-automatic groove system for carry out the groove to the part which characterized in that: the three-dimensional simulation part bevel processing device comprises a mobile device, a working platform used for bearing parts to be beveled, an acquisition device, a display device, an input device, a control device and a bevel device, wherein the mobile device is arranged close to the working platform, the acquisition device is fixed on the mobile device, the acquisition device is used for scanning the parts to be beveled on the working platform by the mobile device in response to the movement operation of an operator after setting a three-dimensional space reference point so as to generate corresponding part information and provide the part information for the display device, the display device displays corresponding three-dimensional simulation parts according to the part information, the input device responds to the operator to select and set the bevels for the three-dimensional simulation parts displayed by the display device so as to generate corresponding bevel information and transmit the bevel information to the control device, the control device controls the mobile device to move according to the bevel information, and the control device comprises a mobile control unit, The groove control unit is electrically connected with the moving device, the groove control unit is electrically connected with the groove device, the moving control unit is used for receiving groove information provided by the input device and controlling the moving device to move to a corresponding groove position coordinate on the working platform according to the groove position coordinate in the groove information, the groove control unit is used for receiving the groove information provided by the input device and controlling the groove device on the moving device to groove a part on the corresponding working platform according to the groove information, the moving device comprises a support frame, a positioning rod, a transverse moving rod, a first driver, a longitudinal moving rod, a second driver and a third driver, the support frame fixedly supports the positioning rod, the transverse moving rod and the longitudinal moving rod are higher than the working platform, the end part of the transverse moving rod is in sliding connection with the positioning rod and are vertical in the same plane, the first driver is used for driving the transverse moving rod to slide along the direction of the positioning rod, the longitudinal moving rod and the transverse moving rod are connected in a sliding mode and are perpendicular to each other in different planes, the second driver is used for driving the longitudinal moving rod to slide along the direction of the transverse moving rod, the third driver is used for driving the longitudinal moving rod to slide along the self direction, the three moving directions of the transverse moving rod and the longitudinal moving rod are directions of three coordinate axes in space respectively, and the collecting device and the beveling device are fixed to the end portion, close to one end of the working platform, of the longitudinal moving rod so as to drive the transverse moving rod and the longitudinal moving rod to move through driving the first driver, the second driver and the third driver, and further drive the collecting device and the beveling device to move in space; the mobile control unit is electrically connected with the first driver, the second driver and the third driver, so that the mobile control unit receives the groove position coordinate in the groove information and then respectively controls the first driver, the second driver and the third driver according to the coordinate value, and further drives the transverse moving rod and the longitudinal moving rod to move; the control device controls the groove device to move so as to groove the corresponding part on the working platform, wherein the part information comprises part size and part position coordinates, the part position coordinates take the three-dimensional space reference point as an origin of coordinates, the groove information comprises groove position coordinates, groove angles, groove chamfer side lengths and groove side lengths, and the origin of coordinates of the groove position coordinates is the same as the origin of coordinates of the part position coordinates; the acquisition device, the control device, the display device and the beveling device are all set with the same three-dimensional reference point before use, and the three-dimensional reference point is positioned on the working platform, so that coordinate points provided for the acquisition device, the control device, the display device and the beveling device are mutually corresponding.
2. The full-automatic beveling system of claim 1 wherein: the acquisition device is a 3D recognition camera.
3. The full-automatic beveling system of claim 1 wherein: the beveling device comprises a beveling machine head and a fourth driver, the fourth driver is used for driving the beveling machine head to move, the bevel control module is electrically connected with the fourth driver so as to control the fourth driver according to the information after receiving the bevel angle, the bevel chamfer side length and the bevel side length in the bevel information through the bevel control unit, and the fourth driver drives the beveling machine head to bevel.
4. A full-automatic groove preparation method is characterized in that: the method comprises the following steps:
setting a working platform, a collecting device and a display device for bearing a part to be beveled, determining a three-dimensional reference point, wherein the three-dimensional reference point is positioned on the working platform, setting the three-dimensional reference point to the collecting device and the display device, and placing the part on the working platform;
set up mobile device to fix collection system on mobile device, specifically do: the device is provided with a support frame, a positioning rod, a transverse moving rod, a first driver, a longitudinal moving rod, a second driver and a third driver, wherein the acquisition device is fixed at the end part of one end of the longitudinal moving rod close to a working platform, the support frame fixedly supports the positioning rod, the transverse moving rod and the longitudinal moving rod are both arranged higher than the working platform, the end part of the transverse moving rod is connected with the positioning rod in a sliding way and the two ends of the transverse moving rod and the positioning rod are vertical in the same plane, the first driver is used for driving the transverse moving rod to slide along the direction of the positioning rod, the longitudinal moving rod is connected with the transverse moving rod in a sliding way and the two ends of the longitudinal moving rod are vertical in different planes, the second driver is used for driving the longitudinal moving rod to slide along the direction of the transverse moving rod, the third driver is used for driving the longitudinal moving rod to slide along the self direction, the three moving directions of the transverse moving rod and the longitudinal moving rod are respectively the directions of three coordinate axes in space, and the control device is electrically connected with the first driver, the second driver and the third driver, the control device drives the first driver, the second driver and the third driver to drive the transverse moving rod and the longitudinal moving rod to move, so as to drive the collecting device to move in the space above the working platform; the acquisition device is a 3D recognition camera;
arranging a beveling device, and fixing the beveling device on a mobile device;
an operator controls the mobile device to move, the mobile device drives the acquisition device to scan the part on the working platform to acquire part information, the part information is provided for the display device, and the display device displays the corresponding three-dimensional simulation part according to the part information; the part information comprises part size and part position coordinates, and the part position coordinates use the three-dimensional space reference point as a coordinate origin;
setting a control device and an input device, and setting the three-dimensional reference point to the control device;
the operator determines the concrete bevel content according to the three-dimensional simulation part, and performs the selection and setting operation of the bevel on the three-dimensional simulation part displayed by the display device through the input device, the input device responds to the operation of the operator, generates the corresponding bevel information, and transmits the bevel information to the control device; the groove information comprises groove position coordinates, groove angles, groove chamfer side lengths and groove side lengths, and the coordinate origin of the groove position coordinates is the same as the coordinate origin of the part position coordinates;
the control device controls the moving device to move according to the groove information, the moving device drives the groove device to move to the groove position of the corresponding part on the working platform, and the control device controls the groove device to move so as to perform groove processing on the corresponding part on the working platform.
5. The full-automatic beveling method according to claim 4, wherein: the step of setting the beveling device and fixing the beveling device on the mobile device specifically comprises the following steps: the end part of one end, close to the working platform, of the longitudinal moving rod is fixed to the end part of one end of the longitudinal moving rod, the fourth driver is used for driving the end part of the beveling machine to move, the control device is electrically connected with the fourth driver, the fourth driver is driven by the control device to drive the end part of the beveling machine to move, and then beveling is conducted on corresponding parts on the working platform.
6. The full-automatic beveling method according to claim 4, wherein: the step of setting the control device is specifically as follows: the control device is arranged and comprises a mobile control unit and a groove control unit, wherein the mobile control unit is electrically connected with a first driver, a second driver and a third driver, and the mobile control unit receives the groove position coordinate in the groove information provided by the input device and then respectively controls the first driver, the second driver and the third driver to drive according to the coordinate value, so that the transverse moving rod and the longitudinal moving rod are driven to move, and the acquisition device and the head of the groove machine are driven to move; the groove control unit is electrically connected with the fourth driver, and the groove control unit receives the groove angle, the groove chamfer side length and the groove side length in the groove information provided by the input device and then controls the fourth driver to drive according to the information, so as to drive the head of the groove machine to perform groove.
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