Intelligent chamfering device for special-shaped steel plates

Abstract

The present invention relates to the field of mechanical processing equipment, and provides an intelligent chamfering device for special-shaped steel plates, comprising a moving mechanism, a chamfering mechanism, a steel plate supporting mechanism, a detection mechanism, a numerical control operation box, and two parallel linear bases; the chamfering mechanism comprises: a chamfering mechanism connecting frame, a self-changing tool mechanical spindle, a spindle motor, and a special milling cutter; the chamfering mechanism connecting frame is fixed on the moving mechanism, and the spindle motor is fixed on the chamfering mechanism connecting frame; the self-changing tool mechanical spindle is arranged at the bottom of the chamfering mechanism connecting frame, and the special milling cutter is installed at the bottom of the self-changing tool mechanical spindle; the output end of the spindle motor is connected to the input end of the self-changing tool mechanical spindle by transmission; the detection mechanism comprises: a camera frame, a linear array camera, and a strip light source; the camera frame is arranged on the moving mechanism, the upper crossbeam of the camera frame is arranged with a linear array camera, and the lower crossbeam of the camera frame is arranged with a strip light source. The present invention can realize automatic double-sided chamfering of special-shaped steel plates and improve work efficiency.

Description

Technical Field

[0001] The invention relates to the field of mechanical processing equipment, and in particular to an intelligent chamfering processing device for special-shaped steel plates. Background Art

[0002] Steel plates are widely used in industry, agriculture, and nuclear power and shipbuilding. With the development of the industry, the requirements for the processing accuracy of steel plates are getting higher and higher. Most of the holes to be processed or the edges of the steel plates are irregular in shape and require double-sided chamfering.

[0003] At present, the double-sided chamfering of holes and edges of special-shaped steel plates is generally performed manually using a handheld chamfering machine. The work efficiency is low and the processing accuracy is uneven, which directly affects the production work of the enterprise and has great limitations. Summary of the invention

[0004] The present invention mainly solves the technical problems in the prior art that the chamfering of holes and edges of special-shaped steel plates is performed manually using a handheld chamfering machine, the work efficiency is low, and the processing accuracy is uneven. An intelligent chamfering processing device for special-shaped steel plates is proposed to realize automatic double-sided chamfering of special-shaped steel plates. The device has a fast working speed, a wide range of applicable workpieces, a high degree of automation, and can liberate a large amount of labor while improving work efficiency and saving costs.

[0005] The present invention provides an intelligent chamfering device for special-shaped steel plates, comprising: a moving mechanism, a chamfering mechanism, a steel plate supporting mechanism, a detection mechanism, a numerical control operation box, and two parallel linear bases (1);

[0006] The moving mechanism is used to drive the chamfering processing mechanism and the detection mechanism to move, and the moving mechanism is arranged on two bases (1);

[0007] The steel plate supporting mechanism is used to support the special-shaped steel plate to be processed, and the steel plate supporting mechanism is arranged between two parallel bases (1);

[0008] The chamfering mechanism comprises: a chamfering mechanism connecting frame (6), a self-tool-changing mechanical spindle (7), a spindle motor (8) and a special milling cutter (11); the chamfering mechanism connecting frame (6) is fixed on the moving mechanism, and the spindle motor (8) is fixed on the chamfering mechanism connecting frame (6); the self-tool-changing mechanical spindle (7) is arranged at the bottom of the chamfering mechanism connecting frame (6), and the special milling cutter (11) is installed at the bottom of the self-tool-changing mechanical spindle (7); the output end of the spindle motor (8) is drivingly connected to the input end of the self-tool-changing mechanical spindle (7);

[0009] The detection mechanism comprises: a camera frame (17), a linear array camera (18) and a strip light source (19); the camera frame (17) is arranged on a moving mechanism, the linear array camera (18) is arranged on an upper crossbeam of the camera frame (17), and the strip light source (19) is arranged on a lower crossbeam of the camera frame (17);

[0010] The moving mechanism, the spindle motor (8), the linear array camera (18) and the strip light source (19) are electrically connected to the numerical control operation box respectively.

[0011] Preferably, the moving mechanism comprises: an x-axis motor (4), an x-axis slide rail (2), a gantry (3), a two-axis truss robot (5) and a sliding connection plate (24);

[0012] The x-axis slide rail (2) is arranged on the base (1), a sliding connection plate (24) is slidably arranged on the x-axis slide rail (2), a gantry (3) is fixedly arranged on the sliding connection plate (24), and a two-axis truss robot (5) is arranged on the crossbeam of the gantry (3);

[0013] The body of the x-axis motor (4) is fixed on the sliding connection plate (24), and the output shaft of the x-axis motor (4) is meshed with the rack of the x-axis slide rail (2) through a gear;

[0014] The x-axis motor (4) and the two-axis truss robot (5) are electrically connected to the numerical control operation box respectively.

[0015] Preferably, the detection mechanism further comprises: an edge-finding motor (10) and a three-dimensional laser profile scanner (12);

[0016] The body of the edge-finding motor (10) is arranged on the chamfering mechanism connecting frame (6); the output end of the edge-finding motor (10) is connected to a bearing (26) installed outside the self-tool-changing mechanical main shaft (7) through a pulley and a belt;

[0017] A three-dimensional laser profile scanner (12) is fixedly installed below the outer ring of the bearing (26);

[0018] The edge-finding motor (10) and the three-dimensional laser profile scanner (12) are electrically connected to a numerical control operation box respectively.

[0019] Preferably, the chamfering mechanism further comprises: a cutting cylinder (9);

[0020] The cylinder body of the cutting cylinder (9) is arranged on the chamfering processing mechanism connecting frame (6), and the piston rod of the cutting cylinder (9) extends into the self-tool changing mechanical spindle (7); the cutting cylinder (9) is connected to an air source, and the air source is electrically connected to a numerical control operation box.

[0021] Preferably, the steel plate supporting mechanism comprises: a supporting frame (21), a cylinder seat plate (22) and a plurality of supporting cylinders (23);

[0022] A cylinder seat plate (22) is fixedly arranged on the support frame (21); a plurality of support cylinders (23) are distributed on the bottom plane of the cylinder seat plate (22); a support rod (15) is fixedly arranged on the piston rod of the support cylinder (23); the support rod (15) passes through the cylinder seat plate (22); the support cylinder (23) is connected to an air source, and the air source is electrically connected to a numerical control operation box.

[0023] Preferably, the cylinder seat plate (22) is slidably connected to the support rod (15) via a linear bearing.

[0024] Preferably, a pulley is also provided on the sliding connection plate (24), and the pulley is provided in cooperation with the x-axis slide rail (2).

[0025] Preferably, a tool magazine rack (13) is also provided on the gantry (3);

[0026] A tool magazine cylinder is installed on the tool magazine frame (13), a crossbeam is installed on the piston rod of the tool magazine cylinder, a plurality of groups of spring tool clamps (16) are installed on the crossbeam in a linear distribution, and a plurality of special milling cutters (11) of different specifications are placed on the spring tool clamps (16); the tool magazine cylinder is connected to an air source, and the air source is electrically connected to a numerical control operation box.

[0027] Preferably, a plurality of compressed air blowing ports (14) are arranged on the top of the tool magazine frame (13); the compressed air blowing ports (14) are connected to an air source, and the air source is electrically connected to a numerical control operation box.

[0028] Preferably, a protective cover (20) is installed outside the gantry (3), and an observation window is provided on the side of the protective cover (20);

[0029] A chamfering mechanism cover (25) is also installed on the chamfering mechanism connecting frame (6).

[0030] The present invention provides an intelligent chamfering device for special-shaped steel plates, which has an ingenious structure and a reasonable layout. When special-shaped steel plates need to be chamfered, the workpiece to be processed can be placed on a steel plate support mechanism for processing. It has a fast working speed, a wide range of applicable workpieces, and a high degree of automation. It can meet the needs of double-sided chamfering of special-shaped steel plates, liberate a large amount of labor, improve work efficiency, and save costs. The above effects have greatly improved the existing situation and greatly met customer needs. It is suitable for special-shaped steel plates, special-shaped holes, and double-sided chamfering operations. Therefore, it can be said that it has multiple advantages and is a steel plate chamfering equipment suitable for various industries such as ships, aerospace, petrochemicals, metallurgy, nuclear power, steel structures, etc., and its market prospects are very broad. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a three-dimensional diagram of the intelligent chamfering processing device for special-shaped steel plates provided by the present invention;

[0032] Figure 2 This is a front view of the intelligent chamfering device for special-shaped steel plates provided by the present invention;

[0033] Figure 3 It is a right view of the intelligent chamfering processing device for special-shaped steel plates provided by the present invention;

[0034] Figure 4 It is a top view of the intelligent chamfering processing device for special-shaped steel plates provided by the present invention;

[0035] Figure 5 It is a structural schematic diagram of the chamfering processing mechanism.

[0036] Figure markings: 1-base, 2-x-axis slide rail, 3-gantry, 4-x-axis motor, 5-two-axis truss robot, 6-chamfering mechanism connecting frame, 7-self-tool changing mechanical spindle, 8-spindle motor, 9-knife cylinder, 10-edge-finding motor, 11-special milling cutter, 12-3D laser contour scanner, 13-tool magazine rack, 14-compressed air blowing port, 15-support rod, 16-spring tool clamp, 17-camera rack, 18-linear array camera, 19-strip light source, 20-protective cover, 21-support frame, 22-cylinder seat plate, 23-support cylinder; 24-sliding connecting plate; 25-chamfering mechanism cover; 26-bearing. DETAILED DESCRIPTION

[0037] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the convenience of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all the contents.

[0038] Figure 1 It is a three-dimensional diagram of the intelligent chamfering processing device for special-shaped steel plates provided by the present invention; Figure 2 This is a front view of the intelligent chamfering device for special-shaped steel plates provided by the present invention; Figure 3 It is a right view of the intelligent chamfering processing device for special-shaped steel plates provided by the present invention; Figure 4 FIG. 1 is a top view of the intelligent chamfering device for special-shaped steel plates provided by the present invention. Figure 1-4As shown, the intelligent chamfering device for special-shaped steel plates provided in an embodiment of the present invention comprises: a moving mechanism, a chamfering mechanism, a steel plate supporting mechanism, a detection mechanism, a CNC operation box and two parallel linear bases 1.

[0039] The moving mechanism is used to drive the chamfering processing mechanism and the detection mechanism to move, and the moving mechanism is arranged on two bases 1. Specifically, the moving mechanism includes: an x-axis motor 4, an x-axis slide rail 2, a gantry 3, a two-axis truss robot 5 and a sliding connection plate 24; wherein the x-axis slide rail 2 is arranged parallel to the base 1, a sliding connection plate 24 is slidably arranged on the x-axis slide rail 2, a gantry 3 is fixedly arranged on the sliding connection plate 24, and a two-axis truss robot 5 is arranged on the crossbeam of the gantry 3; the body of the x-axis motor 4 is fixed on the sliding connection plate 24, and the output shaft of the x-axis motor 4 is meshed with the rack of the x-axis slide rail 2 through a gear, and the rack is installed on the side of the x-axis slide rail 2 and is parallel and equal to the x-axis slide rail 2. A pulley is also arranged on the sliding connection plate 24, and the pulley is arranged in cooperation with the x-axis slide rail 2. A protective cover 20 is also installed on the outside of the gantry 3, and an observation window is provided on the side of the protective cover 20.

[0040] The moving mechanism of this embodiment controls the gantry 3 to slide along the x-axis slide rail 2 through a gear rack transmission, and the gear is driven by the x-axis motor 4.

[0041] Figure 5 It is a schematic diagram of the structure of the chamfering processing mechanism. Figure 5 As shown, the chamfering mechanism includes: a chamfering mechanism connecting frame 6, a self-tool-changing mechanical spindle 7, a spindle motor 8, a cutting cylinder 9 and a special milling cutter 11; the chamfering mechanism connecting frame 6 is fixed on the moving mechanism, and the spindle motor 8 is fixed on the chamfering mechanism connecting frame 6; the self-tool-changing mechanical spindle 7 is arranged at the bottom of the chamfering mechanism connecting frame 6, and the special milling cutter 11 is installed at the bottom of the self-tool-changing mechanical spindle 7; the output end of the spindle motor 8 is connected to the input end of the self-tool-changing mechanical spindle 7 by transmission. Specifically, the chamfering mechanism connecting frame 6 is fixed to the terminal of the two-axis truss robot 5, specifically to the moving mechanism in the z-axis direction of the two-axis truss robot 5. The output end of the spindle motor 8 is connected to the rotating shaft of the self-tool-changing mechanical spindle 7 by transmission through a pulley and a belt, so that the spindle motor 8 drives the rotating shaft of the self-tool-changing mechanical spindle 7 to rotate, and then drives the special milling cutter 11 to rotate, so that the special milling cutter 11 can chamfer the special-shaped steel plate. A chamfering mechanism cover 25 is installed outside the chamfering mechanism.

[0042] The chamfering processing device of this embodiment also provides an automatic tool changing function. The gantry 3 is also provided with a tool magazine frame 13; a tool magazine cylinder is installed on the tool magazine frame 13, a crossbeam is installed on the plunger end of the tool magazine cylinder, and multiple groups of spring tool clamps 16 are linearly installed on the crossbeam, and a variety of special milling cutters 11 of different specifications are placed on the spring tool clamps 16; the tool magazine cylinder is connected to an air source. A compressed air blowing port 14 is provided on the top of the tool magazine frame 13; the compressed air blowing port 14 is connected to an air source.

[0043] In this embodiment, the special milling cutter 11 is a forming milling cutter, and multiple groups of special milling cutters 11 of different specifications are clamped on the spring tool clamp 16 of the tool magazine frame 13, including forming milling cutters for lower surface processing and forming milling cutters for upper surface processing. According to the processing requirements, the machine can automatically change tools. The tool magazine cylinder of the tool magazine frame 13 can push a row of forming milling cutters clamped on the crossbeam forward, and move the bottom mounting hole of the self-tool-changing mechanical spindle 7 to the top of the corresponding tool through the two-axis truss robot 5 and then move it down, and then through the cooperation of the tool-beating cylinder 9 and the self-tool-changing mechanical spindle 7, the self-tool-changing mechanical spindle 7 can clamp the handle of the forming milling cutter and fix it. Specific tool changing process: The cylinder body of the tool-beating cylinder 9 is set on the chamfering processing mechanism connecting frame 6, and the piston rod of the tool-beating cylinder 9 extends into the self-tool-changing mechanical spindle 7 and is connected to the gripper in the self-tool-changing mechanical spindle 7; the tool-beating cylinder 9 is connected to the air source. When the tool needs to be changed, the piston rod of the tool-beating cylinder 9 extends into the self-tool-changing mechanical spindle 7, which can push the gripper in the self-tool-changing mechanical spindle 7 to open, and the gripper releases the special milling cutter 11; when the piston rod of the tool-beating cylinder 9 is lifted, the gripper in the self-tool-changing mechanical spindle 7 can grab the replaced special milling cutter 11, thereby realizing automatic tool change.

[0044] The chamfering processing mechanism of this embodiment can utilize the two-axis truss robot 5 to realize movement in the y-axis direction and the z-axis direction, and utilize the x-axis motor 4 to realize movement in the x-axis direction. After the chamfering processing mechanism moves to the processing position, the output shaft of the spindle motor 8 rotates to drive the special milling cutter 11 to rotate through the rotating shaft of the self-tool changing mechanical spindle 7, thereby realizing the chamfering processing.

[0045] The steel plate support mechanism is used to support the special-shaped steel plate to be processed, and the steel plate support mechanism is arranged between two parallel bases 1. The steel plate support mechanism includes: a support frame 21, a cylinder seat plate 22 and a plurality of support cylinders 23; the support frame 21 is fixedly provided with a cylinder seat plate 22, and a plurality of support cylinders 23 are distributed on the bottom plane of the cylinder seat plate 22, and a support rod 15 is fixedly provided on the piston rod of the support cylinder 23; the support rod 15 passes through the cylinder seat plate 22; and the support cylinder 23 is connected to the air source. The cylinder seat plate 22 is slidably connected to the support rod 15 through a linear bearing, and the support rod 15 can slide up and down in the linear bearing.

[0046] The steel plate supporting mechanism of the present embodiment places the steel plate to be processed on the steel plate supporting mechanism, and the bottom of the steel plate to be processed is supported by the supporting rod 15. The piston rod of the supporting cylinder 23 is extended and retracted to drive the supporting rod 15 to move up and down, thereby realizing the lifting and lowering of the steel plate to be processed. According to the scanning result of the detection mechanism of the present embodiment, the CNC operation box controls the supporting cylinder 23 of a part of the steel plate supporting mechanism to work, and raises the supporting rod 15 of this part. The steel plate to be processed is supported by these supporting rods 15, and the supporting rods 15 below the hole position or the edge to be processed of the steel plate to be processed are not raised, avoiding the edge and hole position to be processed of the steel plate, and supporting and raising the steel plate to be processed. The supporting part avoids the part to be processed, so it will not interfere with the chamfering operation of the bottom surface.

[0047] The detection mechanism includes: a camera frame 17, a linear array camera 18, a strip light source 19, an edge-finding motor 10 and a three-dimensional laser profile scanner 12; the camera frame 17 is arranged on the moving mechanism, and the camera frame 17 is specifically arranged on the sliding connection plate 24, and above the front end of the gantry 3, the upper crossbeam of the camera frame 17 is provided with a linear array camera 18, and the lower crossbeam of the camera frame 17 is provided with a strip light source 19. The body of the edge-finding motor 10 is arranged on the chamfering processing mechanism connecting frame 6; the output end of the edge-finding motor 10 is connected to the bearing 26 installed outside the self-tool-changing mechanical main shaft 7 through a pulley and a belt; the three-dimensional laser profile scanner 12 is fixedly installed below the outer ring of the bearing 26, and the rotation of the output shaft of the edge-finding motor 10 can drive the outer ring of the bearing 26 to rotate, thereby causing the three-dimensional laser profile scanner 12 to rotate around the self-tool-changing mechanical main shaft 7.

[0048] In the detection mechanism of this embodiment, the strip light source 19 provides strip light, the x-axis motor 4 works, drives the linear array camera 18 to move in the x-axis direction, collects the shape signal of the entire steel plate to be processed, and transmits the shape signal of the entire steel plate to be processed to the CNC operation box, thereby controlling the x-axis motor 4, the two-axis truss robot 5, and the spindle motor 8 to work. The output shaft of the spindle motor 8 is connected to the input end of the self-tool-changing mechanical spindle 7 through a pulley, thereby driving the special milling cutter 11 to rotate, and the output shaft of the edge-finding motor 10 is connected to the outer ring of the bearing 26 through a pulley to rotate, driving the three-dimensional laser profile scanner 12 to rotate around the self-tool-changing mechanical spindle 7. The three-dimensional laser profile scanner 12 scans the signal of the edge to be processed on the steel plate to be processed, and transmits the signal of the edge to be processed to the CNC operation box, thereby controlling the operation of the x-axis motor 4, the two-axis truss robot 5, and the spindle motor 8; at the same time, the air source is controlled to control the multiple support cylinders 23. The lifting and lowering of each support cylinder 23 only operates the support cylinder 23 of a part with a steel plate above, and raises the support rods 15 of this part. The steel plate to be processed is supported by these support rods 15, and the support rods 15 below the hole position of the steel plate to be processed or the edge to be processed are not raised. The edge to be chamfered can be set through the CNC operation box, and then the chamfering processing mechanism is controlled to move to the edge to be processed for chamfering. In order to supplement the accuracy of the signal scanned by the linear array camera 18, a three-dimensional laser profile scanner 12 is rotatably installed on the periphery of the special milling cutter 11, which is used to find the edge while processing, and the edge signal scanned is used to find the edge to assist in controlling the chamfering processing mechanism.

[0049] In this embodiment, pneumatic devices such as the knife-beating cylinder 9, the compressed air blowing port 14, and the supporting cylinder 23 are connected to the air source. The electric control components such as the x-axis motor 4, the two-axis truss robot 5, the spindle motor 8, the knife-beating cylinder 9, the edge-finding motor 10, the three-dimensional laser profile scanner 12, the linear array camera 18, the strip light source 19 and the air source are respectively electrically connected to the CNC operation box and controlled by the CNC operation box.

[0050] The working principle of the special-shaped steel plate intelligent chamfering processing device of this embodiment is as follows: the x-axis motor 4 works to drive the gantry 3 and all the mechanisms thereon to move, and the linear array camera 18 is used to scan the steel plate to be processed, and the strip light source 19 illuminates the part of the steel plate to be processed to be scanned, providing light source for the scanning operation; according to the scanning result of the linear array camera 18, the numerical control operation box controls the support cylinder 23 of a part of the steel plate support mechanism to work, avoids the edge and hole position of the steel plate to be processed, and supports and lifts the steel plate. According to the scanning result, the numerical control system controls the x-axis motor 4, the two-axis truss robot 5 and the chamfering processing mechanism thereon to work, and moves the special milling cutter 11 to the processing position to chamfer the steel plate. The special milling cutter 11 has a forming milling cutter for upper surface processing and a forming milling cutter for lower surface processing, so as to realize automatic double-sided chamfering. During the chamfering operation, the three-dimensional laser profile scanner 12 can rotate around the self-changing tool mechanical spindle 7 through the edge-finding motor 10, and the three-dimensional laser profile scanner 12 is used to scan and find the edge in real time, and the scanning edge is accurately located.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that modifying the technical solutions described in the aforementioned embodiments, or replacing some or all of the technical features therein by equivalents, does not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent chamfering device for special-shaped steel plates, characterized in that: include: A moving mechanism, a chamfering mechanism, a steel plate supporting mechanism, a detection mechanism, a numerical control operation box, and two parallel linear bases (1); The moving mechanism is used to drive the chamfering processing mechanism and the detection mechanism to move, and the moving mechanism is arranged on two bases (1); The steel plate supporting mechanism is used to support the special-shaped steel plate to be processed, and the steel plate supporting mechanism is arranged between two parallel bases (1); The steel plate supporting mechanism comprises: a supporting frame (21), a cylinder seat plate (22) and a plurality of supporting cylinders (23); the supporting frame (21) is fixedly provided with a cylinder seat plate (22); a plurality of supporting cylinders (23) are distributed on a plane at the bottom of the cylinder seat plate (22); a supporting rod (15) is fixedly provided on a piston rod of the supporting cylinder (23); the supporting rod (15) passes through the cylinder seat plate (22); the supporting cylinder (23) is connected to an air source, and the air source is electrically connected to a numerical control operation box; The chamfering mechanism comprises: a chamfering mechanism connecting frame (6), a self-tool-changing mechanical spindle (7), a spindle motor (8) and a special milling cutter (11); the chamfering mechanism connecting frame (6) is fixed on the moving mechanism, and the spindle motor (8) is fixed on the chamfering mechanism connecting frame (6); the self-tool-changing mechanical spindle (7) is arranged at the bottom of the chamfering mechanism connecting frame (6), and the special milling cutter (11) is installed at the bottom of the self-tool-changing mechanical spindle (7); the output end of the spindle motor (8) is drivingly connected to the input end of the self-tool-changing mechanical spindle (7); The chamfering mechanism further comprises: a cutting cylinder (9); the cylinder body of the cutting cylinder (9) is arranged on the chamfering mechanism connecting frame (6), and the piston rod of the cutting cylinder (9) extends into the self-tool-changing mechanical spindle (7); the cutting cylinder (9) is connected to an air source, and the air source is electrically connected to a numerical control operation box; The detection mechanism comprises: a camera frame (17), a linear array camera (18) and a strip light source (19); the camera frame (17) is arranged on a moving mechanism, the linear array camera (18) is arranged on an upper crossbeam of the camera frame (17), and the strip light source (19) is arranged on a lower crossbeam of the camera frame (17); The detection mechanism further comprises: an edge-finding motor (10) and a three-dimensional laser contour scanner (12); the body of the edge-finding motor (10) is arranged on a chamfering mechanism connecting frame (6); the output end of the edge-finding motor (10) is connected to a bearing (26) installed outside the self-tool-changing mechanical spindle (7) through a pulley and a belt; a three-dimensional laser contour scanner (12) is fixedly installed below the outer ring of the bearing (26); the edge-finding motor (10) and the three-dimensional laser contour scanner (12) are respectively electrically connected to a numerical control operation box; The moving mechanism, the spindle motor (8), the linear array camera (18) and the strip light source (19) are electrically connected to the numerical control operation box respectively.

2. The intelligent chamfering device for special-shaped steel plates according to claim 1 is characterized in that: The moving mechanism comprises: an x-axis motor (4), an x-axis slide rail (2), a gantry (3), a two-axis truss robot (5) and a sliding connection plate (24); The x-axis slide rail (2) is arranged on the base (1), a sliding connection plate (24) is slidably arranged on the x-axis slide rail (2), a gantry (3) is fixedly arranged on the sliding connection plate (24), and a two-axis truss robot (5) is arranged on the crossbeam of the gantry (3); The body of the x-axis motor (4) is fixed on the sliding connection plate (24), and the output shaft of the x-axis motor (4) is meshed with the rack of the x-axis slide rail (2) through a gear; The x-axis motor (4) and the two-axis truss robot (5) are electrically connected to the numerical control operation box respectively.

3. The intelligent chamfering device for special-shaped steel plates according to claim 1 is characterized in that: The cylinder seat plate (22) is slidably connected to the support rod (15) via a linear bearing.

4. The intelligent chamfering device for special-shaped steel plates according to claim 2, characterized in that: A pulley is also provided on the sliding connection plate (24), and the pulley is arranged in cooperation with the x-axis slide rail (2).

5. The intelligent chamfering device for special-shaped steel plates according to claim 2, characterized in that: A tool magazine rack (13) is also provided on the gantry (3); A tool magazine cylinder is installed on the tool magazine frame (13), a crossbeam is installed on the piston rod of the tool magazine cylinder, a plurality of groups of spring tool clamps (16) are installed on the crossbeam in a linear distribution, and a plurality of special milling cutters (11) of different specifications are placed on the spring tool clamps (16); the tool magazine cylinder is connected to an air source, and the air source is electrically connected to a numerical control operation box.

6. The intelligent chamfering device for special-shaped steel plates according to claim 5, characterized in that: A plurality of compressed air blowing ports (14) are arranged on the top of the tool magazine frame (13); the compressed air blowing ports (14) are connected to an air source, and the air source is electrically connected to a numerical control operation box.

7. The intelligent chamfering device for special-shaped steel plates according to claim 2, characterized in that: A protective cover (20) is also installed outside the gantry (3), and an observation window is provided on the side of the protective cover (20); A chamfering mechanism cover (25) is also installed on the chamfering mechanism connecting frame (6).

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