CN115026374B - Cutting apparatus - Google Patents
Cutting apparatus Download PDFInfo
- Publication number
- CN115026374B CN115026374B CN202210758154.1A CN202210758154A CN115026374B CN 115026374 B CN115026374 B CN 115026374B CN 202210758154 A CN202210758154 A CN 202210758154A CN 115026374 B CN115026374 B CN 115026374B
- Authority
- CN
- China
- Prior art keywords
- cutting
- distance information
- cutting apparatus
- carrying trolley
- telescopic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K7/00—Cutting, scarfing, or desurfacing by applying flames
- B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a cutting device, comprising: the support platform is suitable for placing a large wheel belt; the carrying trolley can move along the circumferential direction of the supporting platform; the telescopic device is arranged on the carrying trolley and is configured to be capable of moving along the radial direction; the cutting device comprises a lifting mechanism and a cutting torch, the lifting mechanism is connected with the telescopic device and can move along the axial direction, and the cutting torch is arranged on the lifting mechanism and is used for cutting a large wheel belt; a measurement system configured to measure axial distance information and radial distance information of the cutting torch and the large wheel belt slot; and the control system is in communication connection with the measurement system and is configured to receive the axial distance information and the radial distance information from the measurement system, adjust the position of the lifting device in the axial direction based on the axial distance information and adjust the position of the telescopic device in the radial direction based on the radial distance information.
Description
Technical Field
The invention relates to the field of metal product processing equipment, in particular to cutting equipment for a large-sized wheel belt riser.
Background
The ultra-large wheel belt is in a ring shape due to the large volume, and a common cutting robot cannot accurately cut the ultra-large wheel belt. Therefore, the ultra-large wheel belt cutting of most enterprises in China is performed manually at present, the operation environment is bad, the operation time is long, the physical quality requirements on workers are high, the production efficiency is low, and the sustainable development is not facilitated. Therefore, an intelligent cutting robot is needed, so that the labor investment is reduced, the cutting environment is improved, and the production efficiency is improved.
Disclosure of Invention
The present solution aims at the problems and needs set forth above, and provides a cutting device, which can achieve the above technical objects and bring about other technical effects due to the following technical features.
The invention proposes a cutting device comprising:
the support platform is suitable for placing a large wheel belt;
a carrying trolley capable of moving along the circumferential direction of the support platform;
The telescopic device is arranged on the carrying trolley and is configured to be capable of moving along the radial direction;
The cutting device comprises a lifting mechanism and a cutting torch, the lifting mechanism is connected with the telescopic device and is configured to be capable of moving along the axial direction, and the cutting torch is arranged on the lifting mechanism and is used for cutting a large wheel belt;
a measurement system configured to measure axial distance information and radial distance information of the cutting torch and the large wheel band slot;
a control system communicatively coupled to the measurement system and configured to receive the axial distance information and the radial distance information from the measurement system and adjust a position of the telescoping device in an axial direction based on the axial distance information and adjust a position of the cutting device in a radial direction based on the radial distance information.
In the technical scheme, a large belt wheel is placed on a supporting platform, then a carrying trolley moves along the circumferential direction of the supporting platform and moves to a designated position, the axial distance information of cutting torches and the large belt wheel slots is measured by a measuring system, then the positions of a lifting mechanism in the axial direction are adjusted by a control system based on the axial distance information, so that the cutting torches and the slots are positioned on the same horizontal plane, then the radial distance information of the cutting torches and the large belt wheel slots is measured by the measuring system, the positions of the cutting devices in the radial direction are adjusted by the control system based on the radial distance information, and finally the riser of the cutting torches for cutting the large belt wheels is realized; the cutting equipment can adapt to high temperature and dust environment, production safety is high, cutting efficiency is greatly increased, accurate cutting can be realized, and cutting errors can be effectively avoided.
In addition, the cutting device according to the present invention may further have the following technical features:
in one example of the invention, the measurement system comprises:
a first ranging sensor configured to measure axial distance information of the cutting torch and the large wheel band slot.
In one example of the present invention, the first ranging sensor includes:
a laser level configured to project horizontal light to a side of the large wheel band;
An industrial camera configured to acquire image information of a large wheel belt;
and the image processor is configured to acquire axial distance information of the cutting torch and the large-sized wheel belt slit based on the horizontal light rays and the image information.
In one example of the invention, the measurement system comprises:
A second ranging sensor configured to measure radial distance information of the cutting torch and the large wheel band slot.
In one example of the invention, the second distance measuring sensor comprises a laser distance meter mounted on the carrier trolley configured to measure radial distance information of the carrier trolley from the large wheel band and obtain radial distance information of the cutting torch and the large wheel band slit based on a telescopic length of the telescopic device in a radial direction.
In one example of the present invention, the telescopic device includes:
A telescoping pole, comprising: the cylinder body is fixedly connected with the carrying trolley, and the piston rod is fixedly connected with the cutting device.
In one example of the present invention, the telescopic device further includes:
and one end of the scissor type telescopic frame is connected with the carrying trolley, and the other end of the scissor type telescopic frame is connected with the cutting device and is configured to be capable of synchronously telescoping with the telescopic rod.
In one example of the present invention, the elevating mechanism includes:
a lead screw arranged along an axial direction and pivotably coupled with the telescopic device;
The driving motor is connected with the screw rod and is configured to drive the screw rod to rotate;
and the moving block is matched with the lead screw and fixedly connected with the cutting torch.
In one example of the present invention, further comprising: the annular guide rail is provided with a plurality of guide grooves,
Which is arranged in the circumferential direction of the support platform and is adapted to the pulleys on the trolley.
In one example of the present invention, the carrying cart includes a plurality of carrying carts and is disposed at intervals along the circumferential direction of the endless rail.
Preferred embodiments for carrying out the present invention will be described in more detail below with reference to the attached drawings so that the features and advantages of the present invention can be easily understood.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the following description will briefly explain the drawings of the embodiments of the present invention. Wherein the showings are for the purpose of illustrating some embodiments of the invention only and not for the purpose of limiting the same.
Fig. 1 is a front view of a cutting apparatus according to an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at Q;
Fig. 3 is a perspective view of a cutting apparatus according to an embodiment of the present invention;
FIG. 4 is a control block diagram of a cutting apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a cutting apparatus control according to an embodiment of the present invention.
List of reference numerals:
A large belt 300;
Lifting lugs 310;
Riser 320;
A cutting device 100;
A support platform 110;
a carriage 120;
a control box 121;
A pulley 122;
a telescoping device 130;
A telescopic rod 131;
A scissors telescoping rack 132;
A first connection end 1321;
A second connection end 1322;
A cutting device 140;
a lifting mechanism 141;
a cutting torch 142;
a measurement system 150;
a first ranging sensor 151;
Laser level 1511;
An industrial camera 1512;
An image processor 1513;
A second ranging sensor 152;
A laser rangefinder 1521;
a control system 160;
a circular guide rail 170;
A radial direction X;
An axial direction Y;
A circumferential direction R.
Detailed Description
In order to make the objects, technical solutions and advantages of the technical solutions of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of specific embodiments of the present invention. Like reference numerals in the drawings denote like parts. It should be noted that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
A cutting apparatus 100 according to a first aspect of the present invention, as shown in fig. 1 to 5, comprises:
The large-sized wheel belt 300 is provided with a riser 320 to be cut and a lifting lug 310 which should be avoided during cutting, wherein the riser 320 is arranged on the large-sized wheel belt 300.
A carriage 120 movable along a circumferential direction R of the support platform 110; for example, a control box 121 is provided on the carriage 120 for placing other relevant electrical equipment.
A telescopic device 130 mounted on the carrying cart 120 and configured to be movable in the radial direction X;
A cutting device 140 including a lifting mechanism 141 and a cutting torch 142, the lifting mechanism 141 being coupled to the telescopic device 130 and configured to be movable in an axial direction Y, the cutting torch 142 being mounted on the lifting mechanism 141 for cutting the large wheel band 300;
a measurement system 150 configured to measure axial distance information and radial distance information of the cutting torch 142 from the kerf of the large tread 300; the slots described herein are cut into the riser 320.
A control system 160, the control system 160 being communicatively connected to the measurement system 150 and configured to receive the axial distance information and the radial distance information from the measurement system 150 and to adjust the position of the telescopic device 130 in the axial direction Y based on the axial distance information and to adjust the position of the cutting device 140 in the radial direction X based on the radial distance information.
Firstly placing a large belt wheel on a supporting platform 110 (for example, horizontally placing the large belt wheel on the supporting platform 110 through a suspension arm), then moving the large belt wheel to a designated position along the circumferential direction R of the supporting platform 110 by a carrying trolley 120, measuring the axial distance information of the cutting torch 142 and the cutting gap of the large belt wheel 300 by a measuring system 150, then adjusting the position of the lifting mechanism 141 in the axial direction Y by a control system 160 based on the axial distance information, thereby realizing that the cutting torch 142 and the cutting gap are on the same horizontal plane, then measuring the radial distance information of the cutting torch 142 and the cutting gap of the large belt wheel 300 by the measuring system 150, adjusting the position of the cutting device 140 in the radial direction X by the control system 160 based on the radial distance information, and finally realizing that the cutting torch 142 cuts a riser 320 of the large belt wheel 300; the cutting device 100 can adapt to high temperature and dust environment, has high production safety, greatly increases cutting efficiency, can realize accurate cutting, and can effectively avoid cutting errors.
In one example of the invention, the measurement system 150 includes:
A first ranging sensor 151 configured to measure axial distance information of the cutting torch 142 from the kerf of the large tire 300;
The first distance measuring sensor 151 can effectively measure the axial distance information of the cutting torch 142 and the cutting gap of the large wheel belt 300, and the control system 160 obtains the radial distance information and then adjusts the position of the telescopic device 130 in the axial direction Y, so that the cutting torch 142 and the cutting gap of the large wheel belt are positioned on the same horizontal plane.
In one example of the present invention, the first ranging sensor 151 includes:
a laser level 1511 configured to project horizontal light to the side of the large wheel belt;
an industrial camera 1512 configured to acquire image information of the large tire 300;
an image processor 1513 configured to obtain axial distance information of the cutting torch 142 from the large tire 300 kerf based on the horizontal light and the image information;
that is, firstly, the laser level 1511 is zeroed and adjusted, then the laser level 1511 of the cutting device 100 emits light waves, light is projected to the side of the wheel belt, the industrial camera 1512 shoots in real time, the shot image is transmitted to an upper computer, the vertical axial pixel distance between the horizontal light and the cutting seam of the wheel belt is calculated through the image processor 1513, the actual physical distance is calculated according to a calculation formula, the distance data is transmitted to the control system 160, and the control system 160 controls the lifting mechanism 141 to axially adjust so as to ensure that the cutting torch 142 and the cutting seam are positioned at the same horizontal plane;
Wherein, the calculation formula is:
S＝S0×K
Where K-pixel length: the actual displacement corresponding to a pixel in the image is in mm/pix;
S 0, pixel values of the image, and units pix;
S is the actual physical displacement, in mm.
In one example of the invention, the measurement system 150 includes:
A second ranging sensor 152 configured to measure radial distance information of the cutting torch 142 from the kerf of the large tread 300;
The second distance measuring sensor 152 can effectively measure the radial distance information of the cutting torch 142 and the cutting seam of the large wheel belt 300, and the control system 160 obtains the radial distance information and then adjusts the position of the telescopic device 130 in the radial direction X, so that the cutting torch 142 contacts with the cutting seam in the radial direction X to realize cutting.
In one example of the invention, the second ranging sensor 152 comprises a laser rangefinder 1521, the laser rangefinder 1521 being mounted on the cart 120 and configured to measure radial distance information of the cart 120 from the large tire 300 and obtain radial distance information of the cutting torch 142 slit with the large tire 300 based on a telescoping length of the telescoping device 130 in a radial direction X;
That is, firstly, the laser rangefinder 1521 is zeroed and adjusted, the laser rangefinder 1521 of the cutting apparatus 100 emits light waves at the same time, the radial distance between the cutting torch 142 and the wheel band slit is measured, the measured real-time data is transmitted to the control system 160, and the control system 160 controls the expansion and contraction of the expansion device 130 to radially adjust, so as to achieve the cutting purpose of the cutting torch 142.
In one example of the present invention, the telescopic device 130 includes:
A telescopic rod 131, comprising: a cylinder body and a piston rod which can be telescopic in the cylinder body, wherein the cylinder body is fixedly connected with the carrying trolley 120, and the piston rod is fixedly connected with the cutting device 140;
the telescopic rod 131 is arranged along the radial direction X, and the position of the cutting device 140 in the radial direction X can be realized through the telescopic rod 131, so that the radial distance information between the cutting torch 142 and the cutting slot of the large tire 300 is adjusted.
In one example of the present invention, the telescopic device 130 further includes:
A scissor type telescopic frame 132 having one end coupled to the carrying cart 120 and the other end coupled to the cutting device 140, configured to be capable of telescoping in synchronization with the telescopic rod 131;
The scissor type telescopic frame 132 is in an X-shaped structure, each side of the scissor type telescopic frame 132 is provided with a first connecting end 1321 and a second connecting end 1322, wherein the first connecting end 1321 on one side is hinged with the carrying trolley 120, and the second connecting end 1322 is slidably connected with the carrying trolley 120 along the axial direction Y; wherein the first connecting end 1321 of the other side is hinged to the cutting device 140 (corresponding to one side of the trolley), and the second connecting end 1322 is slidably coupled to said cutting device 140 along the axial direction Y; for example, a slider is provided at the second connection end 1322, and a slide rail is provided on the cutting device 140, which slide rail cooperates with the slider.
When the telescopic device 130 performs the extending movement, the scissor jack 132 extends from the retracted position to the extended position away from the direction of the carrying cart 120, and at the same time, the second connecting ends 1322 on both sides of the scissor jack 132 move along the axial direction Y toward the first connecting end 1321; when the telescopic device 130 performs the retracting movement, the scissor jack 132 is retracted from the extended position to the retracted position close to the direction of the trolley, and at the same time, the second connecting ends 1322 at both sides of the scissor jack 132 move away from the first connecting end 1321 along the axial direction Y.
Since the telescopic rod 131 is subjected to the pressure of the cutting torch 142 and the elevating mechanism 141, the supporting strength of the telescopic rod 131 can be improved and the stability of the cutting apparatus 100 can be improved by providing the scissor type telescopic frame 132.
In one example of the present invention, the lifting mechanism 141 includes:
A lead screw arranged along the axial direction Y and pivotably coupled with the telescopic device 130;
The driving motor is connected with the screw rod and is configured to drive the screw rod to rotate;
The moving block is matched with the lead screw and is fixedly connected with the cutting torch 142;
Specifically, a connection plate is fixedly installed on the telescopic rod 131, the screw is pivotably configured to be on the connection plate, and the driving motor is fixed on the connection plate, and its output shaft is fixedly connected with the screw, for example, through a coupling; the driving motor drives the screw rod to rotate, so that the moving block is driven to move up and down along the axial direction Y of the screw rod, and then the axial distance information of the cutting torch 142 in the axial direction Y is adjusted.
In one example of the present invention, further comprising: the annular guide rail 170 is provided with a guide groove,
Which is arranged along the circumferential direction R of the support platform 110 and which is adapted to the pulleys 122 on the trolley 120;
The annular guide rail 170 comprises an inner rail and an outer rail, the cross section of the rails is a trapezoid rail, and the carrying trolley 120 is connected with the annular guide rail 170 through four groove-shaped wheels.
In one example of the present invention, the carrying cart 120 includes a plurality of carrying carts and is disposed at intervals along the circumferential direction R of the annular rail 170;
by providing a plurality of carrying dollies 120, the synchronous cutting action of the plurality of carrying dollies 120 can be synchronously realized, thereby improving the cutting efficiency of the cutting apparatus 100.
It should be noted that, the carrier vehicle 120 is coupled to the control system 160 through a positioning module for controlling the position of the carrier vehicle 120, where the positioning module includes:
The Hall sensor is configured to acquire position calibration information of the carrying trolley;
the inertial measurement unit is configured to acquire inertial information of the carrying trolley;
A wheel odometer configured to obtain odometry information of the carriage 120;
For the Hall sensor, the Hall sensor-based carrier trolley 120 position calibration method disclosed by the invention adopts a method of uniformly arranging a plurality of magnetic gaskets on the annular track and calibrating the position of the carrier trolley 120 once every a distance to calibrate the position of the small carrier trolley, so that the position accuracy of the carrier trolley 120 is improved, and the situation that key positions such as lifting lugs 310 of the large wheel belt 300 are cut off due to the position error of the carrier trolley 120 is avoided.
The magnetic gaskets of the Hall sensors are uniformly distributed on the track of the carrying trolley 120, and the Hall sensors are arranged on the carrying trolley 120. When the carrying trolley 120 reaches the position of the magnetic gasket, the accurate position at the moment is transmitted to the control system 160, the calibration of the trolley position is completed, and the error correction of the position of the carrying trolley 120 is realized by combining the cutting trolley positioning algorithm driven by the friction form based on multi-sensor fusion.
The specific working process is as follows: placing a large belt wheel on a supporting platform 110, then moving the large belt wheel to a designated position along the circumferential direction R of the supporting platform 110 by a carrying trolley 120, firstly performing zero adjustment on a laser range finder 1521 and a laser level 1511, then simultaneously emitting light waves by the laser levels 1511 of a plurality of cutting devices 100, projecting light rays to the side edges of the belt, shooting an industrial camera 1512 in real time, transmitting the shot image to an upper computer, calculating the vertical axial pixel distance between the horizontal light rays and the belt slit by an image processor 1513, calculating the actual physical distance according to a calculation formula, transmitting distance data to a control system 160, and controlling a moving block of a ball screw by the control system 160 to perform axial adjustment so as to ensure that the cutting torch 142 and the slit are positioned at the same horizontal plane; then, the laser rangefinder 1521 of the cutting devices 100 simultaneously emits light waves, the radial distance between the cutting torch 142 and the wheel belt slit is measured, measured real-time data is transmitted to the control system 160, the control system 160 controls the multi-stage servo push rod to stretch out and draw back to perform radial adjustment distance, the horizontal distance between the cutting torch 142 of the cutting devices 100 and the wheel belt slit is kept equal, and after the device position is adjusted, cutting processing is performed. The cutting device 100 can adapt to high temperature and dust environment, has high production safety, greatly increases cutting efficiency, can realize accurate cutting, and can effectively avoid cutting errors.
The exemplary embodiment of the cutting device 100 according to the present invention has been described in detail hereinabove with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various modifications and adaptations can be made to the specific embodiments described above and that various combinations of the technical features and structures of the present invention can be made without departing from the scope of the invention, which is defined in the appended claims.
Claims (9)
1. A cutting apparatus, comprising:
-a support platform (110), said support platform (110) being adapted to place a large tread (300); the upper end face of the large wheel belt (300) is provided with a plurality of riser heads (320) which are arranged at intervals along the circumferential direction of the large wheel belt (300), and the wheel face of the large wheel belt (300) is provided with a plurality of lifting lugs (310) which are arranged at intervals along the circumferential direction of the large wheel belt (300);
-a carriage (120) movable along a circumferential direction (R) of the support platform (110);
a telescopic device (130) mounted on the carriage (120) and configured to be movable along a radial direction (X);
-a cutting device (140) comprising a lifting mechanism (141) and a cutting torch (142), the lifting mechanism (141) being coupled to the telescopic device (130) and configured to be movable along an axial direction (Y), the cutting torch (142) being mounted on the lifting mechanism (141) for cutting a large tyre (300); wherein the lifting mechanism (141) comprises: a screw arranged along an axial direction (Y) and pivotably coupled with the telescopic device (130); the driving motor is connected with the screw rod and is configured to drive the screw rod to rotate; the moving block is matched with the lead screw and is fixedly connected with the cutting torch (142);
A measurement system (150) configured to measure axial distance information and radial distance information of the cutting torch (142) from the large tread (300) slit;
-a control system (160), the control system (160) being communicatively connected to the measurement system (150) and configured to receive the axial distance information and the radial distance information from the measurement system (150), and to adjust the position of the lifting mechanism (141) in the axial direction (Y) based on the axial distance information, to adjust the position of the telescopic device (130) in the radial direction (X) based on the radial distance information, keeping the horizontal distances of the cutting torches (142) of the several cutting devices (100) and the wheel belt slots equal;
wherein the carriage (120) is coupled to the control system (160) by a positioning module for controlling the position of the carriage (120), wherein the positioning module comprises:
The Hall sensor is configured to acquire position calibration information of the carrying trolley;
the inertial measurement unit is configured to acquire inertial information of the carrying trolley;
a wheel odometer configured to obtain odometry information of the carriage (120);
For the Hall sensor, the Hall sensor-based carrying trolley (120) position calibration method adopts a method of uniformly arranging a plurality of magnetic gaskets on an annular track and calibrating the position of the carrying trolley (120) once every a distance to calibrate the position of the carrying trolley, thereby improving the position precision of the carrying trolley (120) and simultaneously avoiding the situation of cutting off the key positions of lifting lugs (310) of a large-sized wheel belt (300) due to the position error of the carrying trolley (120).
2. The cutting apparatus of claim 1, wherein the cutting apparatus comprises,
The measurement system (150) comprises:
a first ranging sensor (151) configured to measure axial distance information of the cutting torch (142) from the large tread (300) slot.
3. The cutting apparatus of claim 2, wherein the cutting apparatus comprises,
The first distance measurement sensor (151) includes:
-a laser level (1511) configured to project horizontal light rays to the side of the large wheel belt (300);
an industrial camera (1512) configured to acquire image information of the large tire (300);
An image processor (1513) configured to obtain axial distance information of the cutting torch (142) from the large tread (300) slit based on the horizontal light and the image information.
4. The cutting apparatus of claim 1, wherein the cutting apparatus comprises,
The measurement system (150) comprises:
A second ranging sensor (152) configured to measure radial distance information of the cutting torch (142) from the large tread (300) slot.
5. The cutting apparatus of claim 4, wherein the cutting apparatus comprises a cutting device,
The second ranging sensor (152) comprises a laser ranging instrument (1521), the laser ranging instrument (1521) is mounted on the carrying trolley (120) and is configured to measure radial distance information of the carrying trolley (120) from the large wheel band (300) and obtain radial distance information of the cutting torch (142) and the cutting gap of the large wheel band (300) based on the telescopic length of the telescopic device (130) in the radial direction (X).
6. The cutting apparatus of claim 1, wherein the cutting apparatus comprises,
The telescopic device (130) comprises:
A telescopic rod (131), comprising: the cylinder body is fixedly connected with the carrying trolley (120), and the piston rod is fixedly connected with the cutting device (140).
7. The cutting apparatus of claim 6, wherein the cutting apparatus comprises,
The telescopic device (130) further comprises:
And a scissor type telescopic frame (132) with one end connected with the carrying trolley (120) and the other end connected with the cutting device (140) and configured to be capable of telescoping synchronously with the telescopic rod (131).
8. The cutting apparatus of claim 1, wherein the cutting apparatus comprises,
Further comprises: a circular guide rail (170),
Which is arranged along a circumferential direction (R) of the support platform (110) and is adapted to pulleys (122) on the trolley (120).
9. The cutting apparatus of claim 8, wherein the cutting apparatus comprises a cutting device,
The carrying trolley (120) comprises a plurality of carrying trolleys and is arranged at intervals along the circumferential direction (R) of the annular guide rail (170).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210758154.1A CN115026374B (en) | 2022-06-30 | 2022-06-30 | Cutting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210758154.1A CN115026374B (en) | 2022-06-30 | 2022-06-30 | Cutting apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115026374A CN115026374A (en) | 2022-09-09 |
| CN115026374B true CN115026374B (en) | 2024-04-30 |
Family
ID=83127791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210758154.1A Active CN115026374B (en) | 2022-06-30 | 2022-06-30 | Cutting apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115026374B (en) |
Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20030092940A (en) * | 2002-05-31 | 2003-12-06 | 삼성중공업 주식회사 | Shaped steel cutting machine and cutting method thereof |
| US6776074B1 (en) * | 1999-12-04 | 2004-08-17 | Philton Polythene Converters Limited | Apparatus and method for handling flexible tubes |
| US7071441B1 (en) * | 2003-12-10 | 2006-07-04 | Jason Bulle | Cutting system controls, including height control |
| CN102581425A (en) * | 2012-02-03 | 2012-07-18 | 吴金权 | Multifunctional hand-operated cutting machine for metal pipes |
| CN103521743A (en) * | 2013-11-04 | 2014-01-22 | 江苏天宏自动化科技有限公司 | Horizontal gravity casting hub dedicated riser cutting machine |
| CN105283635A (en) * | 2013-06-06 | 2016-01-27 | 卡特彼勒环球矿业欧洲有限公司 | Tool support for cutting heads |
| CN205271015U (en) * | 2015-12-21 | 2016-06-01 | 浙江今跃机械科技开发有限公司 | Wheel hub's arm sprue cut machine |
| CN205324937U (en) * | 2016-01-26 | 2016-06-22 | 德州凯斯锐数控科技有限公司 | All -round cutting production line |
| CN205342076U (en) * | 2015-11-26 | 2016-06-29 | 崔明生 | Tire mould rising head sawing machine |
| CN106102979A (en) * | 2014-02-28 | 2016-11-09 | 恩德莱斯和豪瑟尔两合公司 | There is the combination unit of at least two parts and for the method producing this combination unit |
| CN106735510A (en) * | 2017-03-27 | 2017-05-31 | 贵州大学 | Efficient pipe cutting machine |
| CN107649666A (en) * | 2017-09-28 | 2018-02-02 | 玫德集团有限公司 | A kind of flat dead head automatic cutter |
| CN108290305A (en) * | 2015-07-25 | 2018-07-17 | 贝特彻工业公司 | Power operation rotating knife with the rotating blade with recess and trimming guiding piece |
| CN108405833A (en) * | 2018-05-11 | 2018-08-17 | 苏州香农智能科技有限公司 | A kind of wheel hub flexible cast riser system of processing based on machine vision |
| CN108705174A (en) * | 2018-05-22 | 2018-10-26 | 徐州工程学院 | A kind of module control system in manganese slag thermal insulation material manufacturing equipment |
| CN109396847A (en) * | 2018-12-14 | 2019-03-01 | 浙江万丰摩轮有限公司 | A kind of flexible production line cutting wheel hub riser, cast gate and prebored hole |
| CN109909842A (en) * | 2019-03-28 | 2019-06-21 | 河北科技大学 | A kind of large-scale cylindrical aluminium casting dead head cutting grinding device |
| CN110328453A (en) * | 2019-07-16 | 2019-10-15 | 李琴 | Continuous cutter is used in a kind of production of automobile circle fuel tank cap |
| CN110434615A (en) * | 2019-08-05 | 2019-11-12 | 镇江裕久智能装备股份有限公司 | A kind of efficient spinning machine trimming dead head structure |
| CN211101561U (en) * | 2019-12-09 | 2020-07-28 | 天津君晟智能科技有限公司 | Oscillating cutting machine |
| CN111570770A (en) * | 2020-06-01 | 2020-08-25 | 嘉兴金鹏工具有限公司 | Automatic casting head cutting device and cutting process for high-stroke jack base |
| CN111761226A (en) * | 2019-03-28 | 2020-10-13 | 株式会社牧田 | Laser marking device |
| CN113369691A (en) * | 2021-07-02 | 2021-09-10 | 济南鼎点数控设备有限公司 | Intelligent laser pipe cutting machine and positioning method thereof |
| CN113634739A (en) * | 2021-08-27 | 2021-11-12 | 纳似韦科技(苏州)有限公司 | Foundry goods rising head cutting frock |
| CN114618990A (en) * | 2022-03-16 | 2022-06-14 | 福建兴航重工有限公司 | Process for manufacturing flat bottom surface of large plane casting |
-
2022
- 2022-06-30 CN CN202210758154.1A patent/CN115026374B/en active Active
Patent Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6776074B1 (en) * | 1999-12-04 | 2004-08-17 | Philton Polythene Converters Limited | Apparatus and method for handling flexible tubes |
| KR20030092940A (en) * | 2002-05-31 | 2003-12-06 | 삼성중공업 주식회사 | Shaped steel cutting machine and cutting method thereof |
| US7071441B1 (en) * | 2003-12-10 | 2006-07-04 | Jason Bulle | Cutting system controls, including height control |
| CN102581425A (en) * | 2012-02-03 | 2012-07-18 | 吴金权 | Multifunctional hand-operated cutting machine for metal pipes |
| CN105283635A (en) * | 2013-06-06 | 2016-01-27 | 卡特彼勒环球矿业欧洲有限公司 | Tool support for cutting heads |
| CN103521743A (en) * | 2013-11-04 | 2014-01-22 | 江苏天宏自动化科技有限公司 | Horizontal gravity casting hub dedicated riser cutting machine |
| CN106102979A (en) * | 2014-02-28 | 2016-11-09 | 恩德莱斯和豪瑟尔两合公司 | There is the combination unit of at least two parts and for the method producing this combination unit |
| CN108290305A (en) * | 2015-07-25 | 2018-07-17 | 贝特彻工业公司 | Power operation rotating knife with the rotating blade with recess and trimming guiding piece |
| CN205342076U (en) * | 2015-11-26 | 2016-06-29 | 崔明生 | Tire mould rising head sawing machine |
| CN205271015U (en) * | 2015-12-21 | 2016-06-01 | 浙江今跃机械科技开发有限公司 | Wheel hub's arm sprue cut machine |
| CN205324937U (en) * | 2016-01-26 | 2016-06-22 | 德州凯斯锐数控科技有限公司 | All -round cutting production line |
| CN106735510A (en) * | 2017-03-27 | 2017-05-31 | 贵州大学 | Efficient pipe cutting machine |
| CN107649666A (en) * | 2017-09-28 | 2018-02-02 | 玫德集团有限公司 | A kind of flat dead head automatic cutter |
| CN108405833A (en) * | 2018-05-11 | 2018-08-17 | 苏州香农智能科技有限公司 | A kind of wheel hub flexible cast riser system of processing based on machine vision |
| CN108705174A (en) * | 2018-05-22 | 2018-10-26 | 徐州工程学院 | A kind of module control system in manganese slag thermal insulation material manufacturing equipment |
| CN109396847A (en) * | 2018-12-14 | 2019-03-01 | 浙江万丰摩轮有限公司 | A kind of flexible production line cutting wheel hub riser, cast gate and prebored hole |
| CN109909842A (en) * | 2019-03-28 | 2019-06-21 | 河北科技大学 | A kind of large-scale cylindrical aluminium casting dead head cutting grinding device |
| CN111761226A (en) * | 2019-03-28 | 2020-10-13 | 株式会社牧田 | Laser marking device |
| CN110328453A (en) * | 2019-07-16 | 2019-10-15 | 李琴 | Continuous cutter is used in a kind of production of automobile circle fuel tank cap |
| CN110434615A (en) * | 2019-08-05 | 2019-11-12 | 镇江裕久智能装备股份有限公司 | A kind of efficient spinning machine trimming dead head structure |
| CN211101561U (en) * | 2019-12-09 | 2020-07-28 | 天津君晟智能科技有限公司 | Oscillating cutting machine |
| CN111570770A (en) * | 2020-06-01 | 2020-08-25 | 嘉兴金鹏工具有限公司 | Automatic casting head cutting device and cutting process for high-stroke jack base |
| CN113369691A (en) * | 2021-07-02 | 2021-09-10 | 济南鼎点数控设备有限公司 | Intelligent laser pipe cutting machine and positioning method thereof |
| CN113634739A (en) * | 2021-08-27 | 2021-11-12 | 纳似韦科技(苏州)有限公司 | Foundry goods rising head cutting frock |
| CN114618990A (en) * | 2022-03-16 | 2022-06-14 | 福建兴航重工有限公司 | Process for manufacturing flat bottom surface of large plane casting |
Non-Patent Citations (2)
| Title |
|---|
| 基于交错定面射孔的近井筒裂缝扩展规律物理模拟;王滨;李军;柳贡慧;李东传;盛勇;颜辉;;石油勘探与开发(第06期);177-186 * |
| 采用热割冒口工艺消除传动齿轮铸件裂纹;郑建斌;铸造技术;20011130(第06期);37-38 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115026374A (en) | 2022-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210155545U (en) | Be used for automatic on-line measuring equipment of switch manufacturing process | |
| CN110193837B (en) | Track inspection robot | |
| US6615112B1 (en) | Method and device for calibrating robot measuring stations, manipulators and associated optical measuring devices | |
| CN110757146B (en) | Automobile body relative position adjusting system | |
| CN111060063B (en) | Automatic positioning and aligning device and method for rotary barrel parts of cartridge receiver | |
| CN112964273B (en) | ADAS calibration device and full-automatic centering system for vehicle | |
| CN115026374B (en) | Cutting apparatus | |
| CN110793477A (en) | Three-dimensional detection system for carriage chassis, online adjusting and correcting system and method | |
| CN110560840B (en) | System and method for identifying weld joint position and automatically welding by laser | |
| CN116122911A (en) | Pointer swing rod type tunnel lining gridding precision inspection trolley | |
| CN112845161A (en) | Visual sensing device-based appearance detection device and detection method thereof | |
| CN113894784A (en) | Industrial robot calibration device and calibration method | |
| CN113059579A (en) | Flexible operation device | |
| CN209925010U (en) | Shield constructs section of jurisdiction position control device based on machine vision | |
| CN111157534A (en) | Movable type detection platform for train bottom in warehouse | |
| CN211528232U (en) | Movable type detection platform for train bottom in warehouse | |
| CN112344899B (en) | Method for detecting three-dimensional contour of tread of wheel set without centering | |
| CN105722691A (en) | Spoked wheel aligners and method for aligning spoked wheels using said aligner | |
| CN114778143A (en) | Non-target non-contact automobile four-wheel positioning detection device and detection method | |
| CN104368470A (en) | Automatic wagon oil paint marking position positioning device | |
| CN109877569B (en) | Tank accurate positioning assembly method, accurate positioning device and accurate positioning method | |
| CN115041669A (en) | Control system and control method for large-scale belt cutting equipment | |
| CN216576197U (en) | Correcting device for positioning cylinder bottom | |
| CN220339313U (en) | Tyre blank circumference and roundness measuring device | |
| CN221199917U (en) | Gaussian value measuring equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |