Cutting method, device and system for chassis beam

Abstract

This invention provides a method, apparatus, and system for cutting a chassis beam. The cutting apparatus for the chassis beam includes: a position detection device configured to detect the position of a first reference point; a cutting torch configured to cut the chassis beam; a robot configured to carry the position detection device and the cutting torch, and drive the position detection device and the cutting torch to move; and a controller configured to: acquire parameter information of the chassis; control the robot to drive the position detection device to move according to the chassis parameter information to detect the position of the first reference point; determine a cutting trajectory according to the chassis parameter information and the position of the first reference point; and control the robot to drive the cutting torch to cut the chassis according to the cutting trajectory. This invention can automatically and accurately determine the cutting position, plan the cutting trajectory, and complete the cutting.

Description

Technical Field

[0001] This invention relates to the field of chassis beam cutting technology, and more specifically to a method, apparatus and system for cutting chassis beams. Background Technology

[0002] Concrete pumping machinery is a type of engineering machinery that pumps concrete and delivers it to the pouring point. Pump trucks and truck-mounted pumps both possess pumping and driving functions, and are mainly composed of a superstructure and a chassis. To match different superstructures, the chassis generally needs to be modified, with the removal of excess chassis beams as required being a key aspect of this modification. Currently, the method and process for cutting chassis beams is as follows: 1. Manually measuring and locating the cutting position according to design requirements using a measuring tape; 2. Manually marking the cutting trajectory; 3. Manually using a handheld cutting device to cut along the marked trajectory. However, the aforementioned method has the following drawbacks: manually measuring and locating the cutting position using a measuring tape is inefficient and prone to large measurement errors; the need to draw cutting lines increases auxiliary time; and manual handheld cutting results in uneven cut surfaces and poor straightness. Therefore, there is an urgent need to propose a technical solution to address the aforementioned technical problems in the existing technology. Summary of the Invention

[0003] The purpose of this invention is to provide a method, apparatus, and system for cutting chassis beams, solving the technical problems of low efficiency, large measurement error, increased auxiliary time, uneven cutting surface, and poor straightness in the prior art.

[0004] To achieve the above objectives, a first aspect of the present invention provides a cutting device for a chassis beam, comprising: a position detection device configured to detect the position of a first reference point; a cutting torch configured to cut the chassis beam; a robot configured to carry the position detection device and the cutting torch, and drive the position detection device and the cutting torch to move; and a controller configured to: acquire parameter information of the chassis; control the robot to drive the position detection device to move according to the chassis parameter information to detect the position of the first reference point; determine a cutting trajectory according to the chassis parameter information and the position of the first reference point; and control the robot to drive the cutting torch to cut the chassis according to the cutting trajectory.

[0005] In this embodiment of the invention, the first reference point is located at the center of the wheel hub of the last axle tire of the chassis.

[0006] In this embodiment of the invention, the position detection device includes a camera. The robot is controlled to drive the position detection device to move according to the parameter information of the chassis in order to detect the position of the first reference point. The method includes: controlling the robot to move to a preset image-taking position according to the parameter information of the chassis; after the robot moves to the preset image-taking position, controlling the camera to take an image including the first reference point; and determining the position of the first reference point based on the image.

[0007] In this embodiment of the invention, determining the cutting trajectory based on the chassis parameter information and the position of the first reference point includes: controlling the robot to drive the cutting torch to move based on the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point; controlling the robot to drive the cutting torch to move based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point; and determining the cutting trajectory based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

[0008] In this embodiment of the invention, the second reference point is located on the side of the chassis beam.

[0009] In this embodiment of the invention, controlling the robot to drive the cutting torch to move according to the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point, includes: determining the coordinates of the cutting trajectory in the first direction according to the chassis parameter information and the position of the first reference point; controlling the robot to move in the first direction to the coordinate position of the cutting trajectory in the first direction; after the robot moves to the coordinate position of the cutting trajectory in the first direction, controlling the robot to drive the cutting torch to move in the second direction according to the chassis information and the position of the first reference point, until it touches the side of the chassis beam; and taking the position of the touch point on the side of the chassis beam as the position of the second reference point.

[0010] In this embodiment of the invention, the third reference point is located on the upper plane of the chassis beam.

[0011] In this embodiment of the invention, controlling the robot to drive the cutting torch to move according to the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point, includes: controlling the robot to drive the cutting torch to move in a third direction according to the chassis parameter information, the position of the first reference point, and the position of the second reference point, until it touches the upper surface of the chassis beam; and taking the position of the touch point on the upper surface of the chassis beam as the position of the third reference point.

[0012] A second aspect of the present invention provides a cutting system for a chassis beam, comprising: a cutting device for a chassis beam according to the foregoing embodiments; and an information acquisition device configured to acquire chassis information; wherein a controller is further configured to control the information acquisition device to acquire chassis information.

[0013] In this embodiment of the invention, the cutting system for the chassis beam further includes: a positioning device configured to detect whether the chassis has reached a preset position; and a controller configured to control the positioning device to detect whether the chassis has reached the preset position.

[0014] In this embodiment of the invention, the cutting system for the chassis beam further includes: a conveyor line configured to move the chassis; a controller further configured to: control the conveyor line to move the chassis; and control the conveyor line to stop moving the chassis after the chassis reaches a preset position.

[0015] A third aspect of the present invention provides a method for cutting a chassis beam, comprising: acquiring chassis parameter information; controlling a robot to drive a position detection device to move according to the chassis parameter information to detect the position of a first reference point; determining a cutting trajectory according to the chassis parameter information and the position of the first reference point; and controlling the robot to drive a cutting torch to cut the chassis beam according to the cutting trajectory.

[0016] In this embodiment of the invention, the first reference point is located at the center of the wheel hub of the last axle tire of the chassis.

[0017] In this embodiment of the invention, the position detection device includes a camera. The robot is controlled to drive the position detection device to move according to the parameter information of the chassis in order to detect the position of the first reference point. The method includes: controlling the robot to move to a preset image-taking position according to the parameter information of the chassis; after the robot moves to the preset image-taking position, controlling the camera to take an image including the first reference point; and determining the position of the first reference point based on the image.

[0018] In this embodiment of the invention, determining the cutting trajectory based on the chassis parameter information and the position of the first reference point includes: controlling the robot to drive the cutting torch to move based on the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point; controlling the robot to drive the cutting torch to move based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point; and determining the cutting trajectory based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

[0019] In this embodiment of the invention, the second reference point is located on the side of the chassis beam.

[0020] In this embodiment of the invention, controlling the robot to drive the cutting torch to move according to the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point, includes: determining the coordinates of the cutting trajectory in the first direction according to the chassis parameter information and the position of the first reference point; controlling the robot to move in the first direction to the coordinate position of the cutting trajectory in the first direction; after the robot moves to the coordinate position of the cutting trajectory in the first direction, controlling the robot to drive the cutting torch to move in the second direction according to the chassis information and the position of the first reference point, until it touches the side of the chassis beam; and taking the position of the touch point on the side of the chassis beam as the position of the second reference point.

[0021] In this embodiment of the invention, the third reference point is located on the upper plane of the chassis beam.

[0022] In this embodiment of the invention, controlling the robot to drive the cutting torch to move according to the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point, includes: controlling the robot to drive the cutting torch to move in a third direction according to the chassis parameter information, the position of the first reference point, and the position of the second reference point, until it touches the upper surface of the chassis beam; and taking the position of the touch point on the upper surface of the chassis beam as the position of the third reference point.

[0023] In this embodiment of the invention, the method for cutting the chassis beam further includes: controlling the conveyor line to move the chassis before obtaining the chassis parameter information; controlling the positioning device to detect whether the chassis has reached a preset position; and controlling the conveyor line to stop moving the chassis after the chassis has reached the preset position.

[0024] The embodiments of the present invention can automatically and accurately determine the cutting position and cutting trajectory of the chassis beam through the aforementioned technical solution, and automatically and accurately complete the cutting according to the cutting trajectory, which is highly efficient, has high cutting quality, and good consistency.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 This is a flowchart illustrating the cutting device 100 for chassis beams according to an embodiment of the present invention.

[0028] Figure 2A and Figure 2B These are schematic diagrams of the chassis of the present invention from both top and front views.

[0029] Figure 3 Figure 2 shows the cross-sectional views of the left and right main beams of the chassis.

[0030] Figure 4A and Figure 4B This is a schematic diagram of the robot determining the cutting position;

[0031] Figure 5 This is a schematic diagram of the cutting trajectory of the cutting torch;

[0032] Figure 6 This is a schematic diagram of the structure of the cutting system 200 for the chassis beam according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of a cutting system for a chassis beam, as exemplified by the present invention; and

[0034] Figure 8 This is a flowchart illustrating a method 300 for cutting a chassis beam according to an embodiment of the present invention. Detailed Implementation

[0035] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0036] like Figure 1 As shown, in this embodiment of the invention, a cutting device 100 for chassis beams is provided, including: a position detection device 110, a cutting torch 130, a robot 150, and a controller 170.

[0037] The position detection device 110 is configured to detect the position of the first reference point. Specifically, the position detection device 110 includes, for example, a camera or a laser scanner. The cutting torch 130 is configured to cut the chassis beam.

[0038] The robot 150 is configured to carry a position detection device 110 and a cutting torch 130, and to drive the position detection device 110 and the cutting torch 130 to move. Specifically, the position detection device 110 and the cutting torch 130 are, for example, disposed at the end of the arm of the robot 150.

[0039] The controller 170 is configured, for example, to: acquire parameter information of the chassis; control the robot 150 to drive the position detection device 110 to move according to the parameter information of the chassis to detect the position of the first reference point; determine the cutting trajectory according to the parameter information of the chassis and the position of the first reference point; and control the robot 150 to drive the cutting torch 130 to cut the chassis according to the cutting trajectory.

[0040] like Figure 2A and Figure 2B The figures shown are schematic diagrams of the chassis from a top view and a front view, respectively, according to an example of the present invention. The cutting device 100 for the chassis beam is used to cut... Figure 2B The remaining part of the left and right main beams of the chassis below L1, that is... Figure 2B The grid section shown.

[0041] The chassis parameters mainly include the chassis model, chassis dimensions, and chassis beam dimensions.

[0042] Chassis-related dimensions include, for example: the distance L between the front of the chassis and the center of the last axle tire, where L is the chassis design value; the distance L1 from the center of the last axle tire to the cutting position, where L1 is the product design value; the height H of the tire center to the top plane of the chassis beam, where H is the chassis design value; and the height H1 of the top plane of the chassis beam from the ground (here, the ground refers to the plane where the bottom of the chassis wheels are located). Due to the influence of tire pressure, the H1 value of different chassis of the same model may vary to some extent.

[0043] like Figure 3 As shown Figure 2A The cross-sectional views of the left and right main beams of the chassis shown are included. The relevant dimensions of the chassis main beams include, for example: the outer width W1 of the left and right main beams of the chassis, where W1 is the chassis design value; the width W2 of the chassis main beam cross-section, where W2 is the chassis design value; the height H2 of the chassis main beam cross-section, where H2 is the chassis design value; the thickness t of the chassis main beam, where t is the chassis design value; and the bending radius R of the chassis main beam cross-section, where R is the chassis design value.

[0044] Establish a coordinate system, for example, define the length direction of the chassis (i.e., the vehicle length direction) as the X-axis, the width direction of the chassis (i.e., the vehicle width direction) as the Y-axis, and the height direction of the chassis as the Z-axis. Based on the relevant dimensions of the chassis beam, as long as the coordinates of any point on the cutting trajectory, such as the starting point of the cutting, are determined, the coordinates of each point on the cutting trajectory can be obtained. The cutting device used for the chassis beam can automatically complete the positioning and cutting based on the coordinate data of each point on the cutting trajectory.

[0045] Specifically, when the position detection device 110 includes a camera, such as an industrial camera, the cutting device for the chassis beam will have a vision function. Accordingly, the robot 150 is controlled to drive the position detection device 110 to move based on the chassis parameter information to detect the position of the first reference point. This includes, for example, controlling the robot 150 to move to a preset image-taking position based on the chassis parameter information, such as the chassis model; after the robot 150 moves to the preset image-taking position, controlling the camera to take an image including the first reference point; and determining the position of the first reference point based on the image.

[0046] Specifically, the first reference point is, for example, located at the center of the hub of the last axle tire of the chassis. This allows the coordinates of the cutting position along the length of the chassis, i.e., the X-axis, to be determined based on the chassis's parameter information. Of course, the first reference point can also be set at other locations, as long as the cutting trajectory can be determined based on the chassis's parameter information. The preset image capture position is, for example, determined and stored through pre-programmed instruction or manually determined and stored. After obtaining the chassis model, for example, a program matching the chassis model and already embedded with the preset image capture position can be directly retrieved to implement the steps of controlling the robot 150 to drive the position detection device 110 to move based on the chassis's parameter information, thereby detecting the position of the first reference point. Alternatively, the chassis parameter information can further include the preset image capture position. In this case, after obtaining the preset image capture position, for example, a program matching the chassis's preset image capture position can be directly retrieved to implement the steps of controlling the robot 150 to drive the position detection device 110 to move based on the chassis's parameter information, thereby detecting the position of the first reference point. Furthermore, the chassis is parked in a preset position, such as a cutting station. This ensures that the preset photo positions are the same for chassis of the same model. Of course, it can also be ensured that it is within a certain preset position range, as long as the wheel hub of the last axle tire of the chassis can be photographed from the preset photo position, so as to determine the position of the wheel hub center based on the photographed image.

[0047] Accordingly, the cutting trajectory is determined based on the chassis parameter information and the position of the first reference point. This includes, for example, controlling the robot 150 to drive the cutting torch 130 to move based on the chassis parameter information and the position of the first reference point, so that the cutting torch 130 is positioned at the position of the second reference point; controlling the robot 150 to drive the cutting torch 130 to move based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch 130 is positioned at the position of the third reference point; and determining the cutting trajectory based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

[0048] Specifically, the second reference point is located on the side of the chassis beam. The third reference point is, for example, located on the upper plane of the chassis beam. The second reference point can be any point on the side of the chassis beam, thus determining the coordinate position of the side of the chassis beam in the chassis width direction, i.e., on the Y-axis. Similarly, the third reference point can be, for example, any point on the upper plane of the chassis beam, thus determining the coordinate position of the upper plane of the chassis beam in the chassis height direction, i.e., on the Z-axis. Based on the coordinate positions of the cutting position in the chassis length direction, the chassis beam side in the chassis width direction, and the upper plane of the chassis beam in the chassis height direction, combined with the chassis parameter information—specifically, the relevant parameters of the chassis beam—the cutting trajectory can be determined. Of course, this embodiment of the invention is not limited to this; the selection of the positions of the second and third reference points can be based on the position of the first reference point and the chassis parameter information to determine the cutting trajectory.

[0049] Accordingly, based on the chassis parameter information and the position of the first reference point, the robot 150 is controlled to drive the cutting torch 130 to move, so that the cutting torch 130 is positioned at the second reference point. This includes, for example, determining the coordinates of the cutting trajectory in the first direction based on the chassis parameter information and the position of the first reference point; controlling the robot 150 to move in the first direction to the coordinate position of the cutting trajectory in the first direction; after the robot 150 moves to the coordinate position of the cutting trajectory in the first direction, controlling the robot 150 to drive the cutting torch 130 to move in the second direction based on the chassis information and the position of the first reference point, until it touches the side of the chassis beam; and using the position of the touch point on the side of the chassis beam as the position of the second reference point. Here, the coordinates of the cutting trajectory in the first direction are also the coordinates of the cutting position in the first direction. The first direction is, for example, the length direction of the chassis, i.e., the X-axis. The second direction is, for example, the width direction of the chassis, i.e., the Y-axis.

[0050] Accordingly, based on the chassis parameter information, the positions of the first reference point and the second reference point, the robot 150 is controlled to drive the cutting torch 130 to move, so that the cutting torch 130 is positioned at the third reference point. This includes, for example, controlling the robot 150 to drive the cutting torch 130 to move in a third direction according to the chassis parameter information, the positions of the first reference point and the second reference point, until it touches the upper surface of the chassis beam; and using the position of the touch point on the upper surface of the chassis beam as the position of the third reference point. The third direction is, for example, the aforementioned height direction of the chassis, i.e., the Z-axis.

[0051] Specifically, the chassis beam is, for example, the chassis beam of a pumping machine. Of course, the embodiments of the present invention are not limited to this; the chassis beam can also be the chassis beam of other construction machinery or vehicles. The cutting device 100 for the chassis beam can, for example, be applied to the assembly process or assembly line of construction machinery or vehicles including chassis beams.

[0052] The following detailed explanation, using specific examples, details the process of determining the positions of the first reference point, the second reference point, and the third reference point, as well as the process of determining the cutting trajectory based on the aforementioned determined information and the chassis parameter information.

[0053] The cutting robot is positioned, for example, on the left side of the chassis. The robot can move along the length of the chassis, i.e., the X-axis.

[0054] The preset camera position for the first chassis of each model to be deployed is, for example, the coordinates of the preset camera position in the X direction, determined using a teach-in programming method. After determination, this position is stored so that when subsequent chassis of the same model are deployed, the controller can use this stored preset camera position information to move the robot to the preset camera position. The preset camera position is determined by the position information of the wheel hub of the last axle tire of the chassis when the camera can capture the image; it is sufficient to ensure that the wheel hub of the last axle tire of the chassis is within the camera's field of view at this position.

[0055] Considering that the parking position of the chassis in the Y direction may vary each time it is deployed, the specific position of the second reference point is obtained by using a vision-enabled cutting robot to contact and locate the side of the beam.

[0056] Considering that the tire pressure difference of different chassis of the same model may cause the H1 value to deviate, the position of the third reference point is specifically obtained by the cutting robot contact positioning method, for example, the coordinates of the third reference point in the Z direction.

[0057] First, the coordinate systems of each component of the cutting robot are calibrated. Let the coordinates of the cutting nozzle of the cutting gun be (0, 0, 0) at the initial position at a selected moment. Then, the visual coordinate system of the camera is calibrated. After calibration, there is a corresponding positional relationship between the camera and the cutting gun.

[0058] Once the chassis is in place (i.e., parked at the preset position), the robot is moved in the X direction to the center of the wheel hub of the last axle tire on the chassis for taking pictures. The teaching program determines the robot's position when the camera of the cutting robot can capture the wheel hub of the last axle tire on the chassis, which is the preset picture position.

[0059] Assuming that after taking a photo, the center coordinates of the wheel hub of the last axle tire on the chassis are determined to be (X1, Y1, Z1) based on the image, then... Figure 4AAs shown, the X-axis coordinate of the cutting position can be determined as X1+L1 based on the L1 value.

[0060] The robot moves to the cutting position in the X direction based on the L1 value (X direction coordinate is X1+L1). Let the X coordinate of the cutting torch be X2 when the robot moves to the cutting position.

[0061] like Figure 4B As shown, the robot, carrying the cutting torch, moves from the Y direction at a height of (Z1+H-H2 / 2) in the width direction of the chassis, that is, in the Y direction, specifically to the right side of the chassis until it touches the side of the left beam. The Y coordinate of the cutting nozzle of the cutting torch at the time of contact is obtained by existing contact positioning software and is defined as Y2.

[0062] like Figure 4B As shown, the robot, carrying the cutting torch, moves in the Z direction with a height of (Z1+H+A) and a width distance of (W2-B) from the side of the left main beam it touches. Specifically, it moves downwards until it touches the upper surface of the left main beam. The Z coordinate of the cutting nozzle at the moment of contact is determined using existing contact positioning software and is defined as Z2. Because the tire pressure varies for each chassis of the same model, the H1 value also varies for each chassis. Therefore, using a tire pressure higher than the ideal tire pressure, the upper surface A value of the chassis main beam is adopted to ensure that the cutting torch can touch the upper surface of the chassis main beam. The A value is determined based on the actual tire pressure error, and is generally A≥100 mm. Using a width value of (W2-B) ensures that the cutting torch can touch within the upper surface range of the chassis main beam. The B value is reasonably selected based on the W2 value and the R value, ensuring that 10 mm < B < W2-R.

[0063] The cutting trajectory is programmed based on the values ​​of W1, W2, H2, R, and t, as follows: Based on different t values, set an appropriate height t1 between the cutting torch and the cutting surface, such as... Figure 5 As shown, if position 1 is the starting point of the cutting, then the coordinates of each point on the cutting trajectory of the left and right beams are obtained. For example, the coordinates of the cutting torch at position 1 are (X2, Y2+W2, Z2+t1), at position 2 are (X2, Y2+R, Z2+t1), at position 3 are (X2, Y2-t1, Z2-H2 / 2), at position 4 are (X2, Y2+W2, Z2-H2-t2), and at position 5 are (X2, Y2+W1-W2, Z2+t1). The cutting trajectory is counterclockwise from position 1 to position 5. Of course, the cutting trajectory is not limited to... Figure 5 As shown, other suitable cutting trajectories can also be used, and the starting point of the cutting will change accordingly.

[0064] like Figure 6As shown, in this embodiment of the invention, a cutting system 200 for a chassis beam is provided, including a cutting device 210 and an information acquisition device 230. The cutting device 210 is, for example, the cutting device 100 for a chassis beam according to any of the foregoing embodiments. The specific functions and details of the cutting device 100 for the chassis beam can be found in the relevant descriptions of the foregoing embodiments, and will not be repeated here.

[0065] The information acquisition device 230 is configured, for example, to acquire information about the chassis. The cutting device 210 (specifically, for example, the controller of the cutting device 210) is also configured, for example, to control the information acquisition device 230 to acquire information about the chassis.

[0066] Specifically, the information acquisition device 230 includes, for example, a radio frequency identification (RFID) device. The RFID device is configured, for example, to scan an electronic tag disposed on the chassis to obtain information about the chassis stored in the electronic tag.

[0067] Furthermore, the cutting system 200 for the chassis beam also includes, for example, a positioning device 250. The positioning device 250 is configured, for example, to detect whether the chassis has reached a preset position. The cutting device 210 (specifically, for example, a controller of the cutting device 210) is also configured, for example, to control the positioning device 250 to detect whether the chassis has reached the preset position.

[0068] Furthermore, the cutting system 200 for the chassis beam also includes, for example, a conveyor line 270. The conveyor line 270 is configured, for example, to move the chassis. The cutting device 210 (specifically, for example, a controller of the cutting device 210) is also configured, for example, to control the conveyor line 270 to move the chassis; and to control the conveyor line 270 to stop moving the chassis after the chassis reaches a preset position.

[0069] It is worth mentioning that, for example, the positioning device 250 and the conveyor line 270 of the present invention may be controlled by a separately configured controller, rather than by the controller of the cutting device 210.

[0070] Specifically, the positioning device 250 includes, for example, through-beam gratings disposed on both sides of the conveyor line 270.

[0071] The following example is as follows: Figure 7 The specific example shown illustrates the structure of the cutting system 200 for chassis beams according to an embodiment of the present invention.

[0072] Cutting systems for chassis beams typically include vision-equipped cutting robots, robotic platforms, radio frequency identification (RFID) devices, conveyor belts, photocells, and controllers.

[0073] Through-beam gratings are arranged on both sides of the conveyor belt. A vision-equipped cutting robot, a robot walking platform, and an RFID device are arranged on one side of the conveyor belt. The vision-equipped cutting robot includes: a robot, a cutting torch fixed to the end effector of the robot arm, and an industrial camera. Of course, the vision-equipped cutting robot may further include a power supply. The vision-equipped cutting robot can move along the X-direction on the robot walking platform. A schematic diagram of the layout of the components of the cutting system for the chassis beam is shown below. Figure 7 As shown.

[0074] The controller can communicate directly or indirectly with vision-equipped cutting robots, robot platforms, radio frequency identification devices, conveyor belts, and photocells via wired and / or wireless means to achieve control.

[0075] Vision-equipped cutting robots are primarily configured to perform cutting positioning and automated cutting operations.

[0076] The radio frequency identification (RFID) device is mainly configured to acquire parameter information of the chassis that has been loaded onto the conveyor belt (plate chain conveyor) and is parked at a preset position, and then pass this information to the controller. Specifically, this can be achieved by reading the chassis model from the electronic tag on the chassis and sending it to the controller, so that the controller can retrieve the chassis parameter information based on the chassis model. In this specific implementation, the electronic tag stores the chassis model information. Alternatively, it can be achieved by directly reading the chassis parameter information from the electronic tag on the chassis and sending it to the controller. In this specific implementation, the electronic tag stores the chassis parameter information.

[0077] The robot walking platform is used for the movement of vision-equipped cutting robots in the X direction to accommodate chassis of different lengths.

[0078] The through-beam grating is configured to stop after the chassis is online, ensuring that the parking position of the chassis head will not deviate significantly each time it is online. This ensures that the position of the last axle tire of the chassis will not deviate significantly in the X direction. Furthermore, it ensures that the center of the tire is within the imaging range each time the robot moves to the position of the last axle tire of the chassis, so as to capture the wheel hub of the last axle tire of the chassis.

[0079] The cutting process is as follows:

[0080] S1: After the chassis with the electronic tag storing chassis information is put online, it is parked in a preset position, such as entering the cutting station. The X-direction parking position of the chassis is determined by the through-beam grating to determine whether the chassis is parked in the preset position.

[0081] S2: The radio frequency identification device scans the electronic tag to obtain the chassis parameter information. The controller receives the chassis parameter information obtained by the radio frequency identification device and retrieves the corresponding program information of the chassis. For example, some or all of the chassis parameter information may have been edited into the program, that is, embedded in the program.

[0082] S3: The robot walks to a preset photo-taking position where it can take a picture of the wheel hub of the last axle tire of the chassis.

[0083] S4: The industrial camera takes a picture of the hub of the last axle tire of the chassis. The position information of the center of the hub of the last axle tire of the chassis is calculated, and the coordinates of the cutting position in the X direction are further obtained.

[0084] S5: The robot moves along the X-axis to the coordinate position of the cutting position in the X direction and then touches the side of the left beam with the cutting torch.

[0085] S6: The robot, carrying a cutting torch, touches the upper plane of the left beam.

[0086] S7: The robot moves the cutting torch to the cutting start position and completes the cutting of the left and right beams of the chassis according to the cutting trajectory.

[0087] S8: After the cutting is completed, the robot returns to the initial position to prepare for the cutting of the next chassis beam.

[0088] like Figure 8 As shown, in this embodiment of the invention, a cutting method 300 for a chassis beam is provided, comprising:

[0089] Step S310: Obtain the chassis parameter information.

[0090] Step S330: Control the robot to drive the position detection device to move according to the chassis parameter information in order to detect the position of the first reference point.

[0091] Step S350: Determine the cutting trajectory based on the chassis parameter information and the position of the first reference point.

[0092] as well as

[0093] Step S370: Control the robot to drive the cutting torch to cut the chassis beam according to the cutting trajectory.

[0094] Specifically, the first reference point is, for example, located at the center of the wheel hub of the last axle tire on the chassis.

[0095] Specifically, the location detection device includes, for example, a camera or a laser scanner.

[0096] Specifically, when the position detection device includes a camera, the robot is controlled to drive the position detection device to move according to the chassis parameter information in order to detect the position of the first reference point. That is, step S330 includes, for example, sub-steps:

[0097] (a1) Control the robot to move to the preset photo position according to the chassis parameter information.

[0098] (a2) After the robot moves to the preset photo-taking position, control the camera to take an image including the first reference point.

[0099] (a3) Determine the location of the first reference point based on the image.

[0100] Specifically, the cutting trajectory is determined based on the chassis parameter information and the position of the first reference point, i.e., step S350 includes, for example, sub-steps:

[0101] (b1) Based on the chassis parameter information and the position of the first reference point, control the robot to drive the cutting torch to move so that the cutting torch is positioned at the position of the second reference point.

[0102] (b2) Based on the chassis parameter information, the positions of the first and second reference points, control the robot to drive the cutting torch to move, so that the cutting torch is positioned at the third reference point.

[0103] (b3) Determine the cutting trajectory based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

[0104] Specifically, the second reference point is located, for example, on the side of the chassis beam.

[0105] More specifically, based on the chassis parameter information and the position of the first reference point, the robot is controlled to drive the cutting torch to move so that the cutting torch is positioned at the second reference point. That is, sub-step (b1) includes:

[0106] (b11) Determine the coordinates of the cutting trajectory in the first direction based on the chassis parameter information and the position of the first reference point.

[0107] (b12) Control the robot to move in the first direction to the coordinate position of the cutting trajectory in the first direction.

[0108] (b13) After the robot moves to the coordinate position of the cutting trajectory in the first direction, based on the chassis information and the position of the first reference point, the robot is controlled to drive the cutting torch to move in the second direction until it touches the side of the chassis beam.

[0109] (b14) The position of the contact point on the side of the chassis beam is used as the position of the second reference point.

[0110] Specifically, the third reference point is located, for example, on the upper plane of the chassis beam.

[0111] More specifically, based on the chassis parameter information, the positions of the first reference point and the second reference point, the robot is controlled to drive the cutting torch to move, so that the cutting torch is positioned at the third reference point. Sub-step (b2) includes, for example:

[0112] (b21) Based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, control the robot to drive the cutting torch to move upwards in a third direction until it touches the upper surface of the chassis beam.

[0113] (b22) The position of the contact point on the upper surface of the chassis beam is taken as the position of the third reference point.

[0114] Specifically, the chassis beam is, for example, the chassis beam of a pumping machine. Of course, the embodiments of the present invention are not limited to this; the chassis beam can also be the chassis beam of other construction machinery or vehicles. The cutting device 100 for the chassis beam can, for example, be applied to the assembly process or assembly line of construction machinery or vehicles including chassis beams.

[0115] Furthermore, the cutting method 300 for the chassis beam further includes, for example, controlling the conveyor line to move the chassis before acquiring the chassis parameter information; controlling the positioning device to detect whether the chassis has reached a preset position; and controlling the conveyor line to stop moving the chassis after the chassis has reached the preset position.

[0116] The chassis beam cutting method 300 of this embodiment can be executed, for example, in the chassis beam cutting device 100 and chassis beam cutting system 200 of the foregoing embodiments of this invention, specifically, in the controller 170 of the chassis beam cutting device 100 and chassis beam cutting system 200. The specific functions and details of the chassis beam cutting method 300 of this embodiment can be found in the relevant descriptions of the chassis beam cutting device 100 and chassis beam cutting system 200 of the foregoing embodiments, and will not be repeated here.

[0117] In this embodiment of the invention, a controller is provided, which is configured to execute the chassis beam cutting method 300 described in any of the foregoing embodiments. The specific functions and details of the chassis beam cutting method 300 can be found in the description of the foregoing embodiments, and will not be repeated here.

[0118] This invention, in its embodiments, combines actual working conditions and chassis characteristics, employing visual imaging to determine the cutting position and using contact positioning combined with relevant design parameters of the chassis beam to determine the cutting trajectory. This is a relatively economical method. If equipment investment costs are disregarded, laser scanning can also be used to directly scan the cross-section of the rear beam of the chassis to obtain the cutting trajectory.

[0119] In summary, the foregoing embodiments of the present invention, through their technical solutions, can automatically and accurately determine the cutting position and cutting trajectory of the chassis beam, and automatically and accurately complete the cutting of the chassis beam according to the cutting trajectory, resulting in high efficiency, high cutting quality, and good consistency.

[0120] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0121] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A cutting device for chassis beams, characterized in that, include: The position detection device is configured to detect the position of the first reference point; A cutting torch is configured to cut the chassis beams; A robot is configured to carry the position detection device and the cutting torch, and to drive the position detection device and the cutting torch to move; as well as The controller is configured as follows: Obtain the parameter information of the chassis; The robot is controlled to drive the position detection device to move according to the parameter information of the chassis, so as to detect the position of the first reference point, wherein the first reference point is located at the center of the wheel hub of the last axle tire of the chassis; The cutting trajectory is determined based on the chassis parameter information and the position of the first reference point; and The robot is controlled to drive the cutting torch to cut the chassis beam according to the cutting trajectory; The step of determining the cutting trajectory based on the chassis parameter information and the position of the first reference point includes: Based on the chassis parameter information and the position of the first reference point, the robot is controlled to drive the cutting torch to move, so that the cutting torch is positioned at the position of the second reference point, which is located on the side of the chassis beam. Based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, the robot is controlled to drive the cutting torch to move, so that the cutting torch is positioned at a third reference point, which is located on the upper plane of the chassis beam; and The cutting trajectory is determined based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

2. The cutting device according to claim 1, characterized in that, The position detection device includes a camera. Controlling the robot to drive the position detection device to move based on the chassis parameter information to detect the position of the first reference point includes: The robot is controlled to move to a preset photo-taking position based on the parameter information of the chassis; After the robot moves to the preset photographing position, the camera is controlled to capture an image including the first reference point; and The position of the first reference point is determined based on the image.

3. The cutting device according to claim 1, characterized in that, The step of controlling the robot to drive the cutting torch to move based on the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point, includes: The coordinates of the cutting trajectory in the first direction are determined based on the parameter information of the chassis and the position of the first reference point; Control the robot to move in the first direction to the coordinate position of the cutting trajectory in the first direction; After the robot moves to the coordinate position of the cutting trajectory in the first direction, the robot is controlled to drive the cutting torch to move in the second direction according to the chassis information and the position of the first reference point, until it touches the side of the chassis beam; and The position of the contact point on the side of the chassis beam is used as the position of the second reference point.

4. The cutting device according to claim 1, characterized in that, The step of controlling the robot to drive the cutting torch to move based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point, includes: Based on the chassis parameters, the position of the first reference point, and the position of the second reference point, the robot is controlled to drive the cutting torch to move upwards in a third direction until it touches the upper surface of the chassis beam; and The position of the contact point on the upper surface of the chassis beam is taken as the position of the third reference point.

5. A cutting system for chassis beams, characterized in that, include: Cutting device for chassis beam according to any one of claims 1 to 4; as well as An information acquisition device is configured to acquire information about the chassis; The controller is further configured to: The information acquisition device is controlled to acquire information about the chassis.

6. The cutting system according to claim 5, characterized in that, Also includes: A positioning device is configured to detect whether the chassis has reached a preset position; The controller is also configured to: The positioning device is controlled to detect whether the chassis has reached the preset position.

7. The cutting system according to claim 6, characterized in that, Also includes: The conveyor line is configured to move the chassis. The controller is also configured to: Control the conveyor line to move the chassis; as well as After the chassis reaches the preset position, the conveyor line is controlled to stop moving the chassis.

8. A method for cutting a chassis beam, characterized in that, include: Obtain the parameter information of the chassis; The robot is controlled to drive the position detection device to move according to the parameter information of the chassis, so as to detect the position of the first reference point, wherein the first reference point is located at the center of the wheel hub of the last axle tire of the chassis; The cutting trajectory is determined based on the chassis parameter information and the position of the first reference point; and The robot is controlled to drive the cutting torch to cut the chassis beam according to the cutting trajectory; The step of determining the cutting trajectory based on the chassis parameter information and the position of the first reference point includes: Based on the chassis parameter information and the position of the first reference point, the robot is controlled to drive the cutting torch to move, so that the cutting torch is positioned at the position of the second reference point, which is located on the side of the chassis beam. Based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, the robot is controlled to drive the cutting torch to move, so that the cutting torch is positioned at a third reference point, which is located on the upper plane of the chassis beam; and The cutting trajectory is determined based on the chassis parameter information, the position of the first reference point, the position of the second reference point, and the position of the third reference point.

9. The cutting method according to claim 8, characterized in that, The position detection device includes a camera. Controlling the robot to drive the position detection device to move based on the chassis parameter information to detect the position of the first reference point includes: The robot is controlled to move to a preset photo-taking position based on the parameter information of the chassis; After the robot moves to the preset photographing position, the camera is controlled to capture an image including the first reference point; and The position of the first reference point is determined based on the image.

10. The cutting method according to claim 8, characterized in that, The step of controlling the robot to drive the cutting torch to move based on the chassis parameter information and the position of the first reference point, so that the cutting torch is positioned at the position of the second reference point, includes: The coordinates of the cutting trajectory in the first direction are determined based on the parameter information of the chassis and the position of the first reference point; Control the robot to move in the first direction to the coordinate position of the cutting trajectory in the first direction; After the robot moves to the coordinate position of the cutting trajectory in the first direction, the robot is controlled to drive the cutting torch to move in the second direction according to the chassis information and the position of the first reference point, until it touches the side of the chassis beam; and The position of the contact point on the side of the chassis beam is used as the position of the second reference point.

11. The cutting method according to claim 8, characterized in that, The step of controlling the robot to drive the cutting torch to move based on the chassis parameter information, the position of the first reference point, and the position of the second reference point, so that the cutting torch is positioned at the position of the third reference point, includes: Based on the chassis parameters, the position of the first reference point, and the position of the second reference point, the robot is controlled to drive the cutting torch to move upwards in a third direction until it touches the upper surface of the chassis beam; and The position of the contact point on the upper surface of the chassis beam is taken as the position of the third reference point.

12. The cutting method according to claim 8, characterized in that, Also includes: Before acquiring the parameter information of the chassis, the conveyor line is controlled to move the chassis; The control positioning device detects whether the chassis has reached the preset position; as well as After the chassis reaches the preset position, the conveyor line is controlled to stop moving the chassis.

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