An automatic trimming device and trimming method for large-sized plates

Abstract

The present invention provides an automatic flash cutting device for large-sized plates, which comprises a chassis wheel assembly, a first gantry assembly, a second gantry assembly, a scanning and positioning assembly and a cutting assembly. The first gantry assembly and the second gantry assembly are both fixedly connected to a first platform of the chassis wheel assembly. The scanning and positioning assembly is slidably connected to the first gantry assembly through a telescopic rod, and the cutting assembly is fixedly connected to the second gantry assembly. The bottom of the first gantry bracket is fixedly connected to the first platform, and a moving pair is used to connect the bottom of the second gantry bracket and the second guide rod. The second guide rod is fixedly connected to the first platform by means of a second base. The automatic cutting device of the present invention can accurately determine the position of the flash using structured light, mark the position of the flash with a laser emitter, and the tool is positioned at the position marked by the laser emitter to achieve cutting, with high working efficiency and high cutting accuracy.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional reconstruction, and particularly to an automatic trimming device and a trimming method for large-sized sheet metal flash edges. Background Art

[0002] During the production process of large-sized sheet metal, due to production process problems, flash edges will be generated at the edge part of the sheet metal, which has an adverse effect on the shape of the sheet metal. In view of the above situation, it is necessary to trim the flash edges of large-sized sheet metal. However, the existing flash edge trimming generally adopts manual or semi-automatic methods, with low production efficiency and inaccurate flash edge measurement. At the same time, three-dimensional measurement technology has become an indispensable part of modern industry and is widely used in industrial inspection, quality inspection, machine vision and other fields. A structured light scanner is a system structure composed of a projector and a camera. After the projector projects specific light information onto the surface and defects of an object, the camera then collects the information. According to the changes in the light signals caused by the object, the position and depth of the object are calculated, and then the entire three-dimensional space is restored. It has been widely used in machine vision. Therefore, if three-dimensional measurement technology can be applied to the field of flash edge trimming, it will bring a qualitative leap in the work efficiency and accuracy in the field of flash edge trimming.

[0003] For the automatic trimming process of large-sized sheet metal flash edges, the main difficulties lie in how to achieve rapid positioning of the flash edges and how to guide the cutting tool to move to this position for cutting. The commonly used positioning methods in industry include the circular fiducial point positioning method and the structured light positioning method. However, because the circular fiducial point positioning method requires pasting fiducial points, and the process of pasting fiducial points for large-sized parts is too complex, the circular fiducial point positioning method is generally not selected for large-sized sheet metal flash edge positioning, and the structured light positioning method is selected for positioning. However, in the field of flash edge trimming, there is currently no device that can rapidly and accurately position flash edges. Therefore, there is an urgent need to study a device and method that can rapidly and accurately position flash edges and precisely cut them. Summary of the Invention

[0004] To solve the deficiencies of the above-mentioned prior art, in view of the problems of low automation, low efficiency and high cost in the existing large plate flash cutting method, the present invention provides an automatic large plate flash cutting device using structured light for three-dimensional reconstruction and laser positioning. It can use structured light to perform three-dimensional reconstruction on large plates, obtain the position information of the flash of large plates, determine the position of the flash, use a laser emitter to mark the position of the flash, and position the tool to the position marked by the laser emitter to achieve cutting. The present invention installs a structured light scanner and a two-axis moving platform together. By calculating the position of the laser emitter based on the position of the laser emitter relative to the structured light scanner, the position where the laser emitter irradiates on the plate is the position of the flash. By calculating the offset of the flash position relative to the tool center position, the tool is aligned with the flash position under the drive of the drive assembly, and the flash cutting work is further completed, thus realizing the automatic cutting of the flash of large plates.

[0005] Specifically, the present invention provides an automatic large plate flash cutting device, which includes a chassis wheel assembly, a first gantry assembly, a second gantry assembly, a scanning and positioning assembly, and a cutting assembly;

[0006] The chassis wheel assembly includes a plurality of wheels, a first platform, and an eighth drive motor, and the plurality of wheels are arranged at the bottom of the first platform;

[0007] Both the first gantry assembly and the second gantry assembly are fixedly connected to the first platform. The second gantry assembly is arranged inside the first gantry assembly. The scanning and positioning assembly is arranged on the first gantry assembly, and the cutting assembly is fixedly connected to the second gantry assembly;

[0008] The first gantry assembly includes a first gantry bracket, a telescopic rod, a slider, a fourth drive motor, a fifth drive motor, and a first gantry upper platform. The bottom of the first gantry bracket is fixedly connected to the first platform. The top of the first gantry bracket is connected to the first gantry upper platform to form a moving pair, and the first gantry upper platform can move up and down along the first gantry bracket, i.e., in the Z-axis direction. The first gantry upper platform is provided with a slide rail, and the slide rail is connected with a slider that cooperates with the slide rail. The fourth drive motor is used to drive the first gantry upper platform to move up and down in the Z-axis direction, and the fifth drive motor is used to drive the slider to move in the X-axis direction along the first gantry upper platform;

[0009] The second gantry assembly includes a sixth driving motor, a second gantry upper platform, a second gantry bracket, a second guide rod, a second base, and a seventh driving motor; the bottom of the second gantry bracket is connected to the second guide rod to form a moving pair, the second guide rod is fixedly connected to the second base, the second base is fixedly connected to the first platform, and the second gantry bracket can move along the axial direction of the second guide rod; the sixth driving motor is used to drive the second gantry upper platform to move up and down in the Z-axis direction, and the seventh driving motor is used to drive the second gantry bracket to move in the Y-axis direction along the axial direction of the second guide rod;

[0010] The scanning and positioning assembly includes a structured light scanner, a first driving motor, a second driving motor, a laser emitter, a first connecting rod, a second connecting rod, a third driving motor, a first bracket, a first guide rod, a first base, and a second platform; the laser emitter is connected to the slider through a telescopic rod by means of the second platform and the components it carries, and the slider is used to connect the first gantry upper platform with the second platform and the structured light scanner and laser emitter fixed on the second platform. The first driving motor on the second platform drives the second platform, the structured light scanner, and the laser emitter to perform telescopic movement in the Y-axis direction; the slider drives the second platform, the structured light scanner, and the laser emitter to move in the X-axis direction; the structured light scanner is fixedly connected to the side wall of the second platform; a first base is fixed on the second platform, a first guide rod is fixed on the first base, and the laser emitter is connected to the first guide rod by means of a connecting component and can thus move along the axial direction of the first guide rod. The connecting component includes a first connecting rod, a second connecting rod, and a first bracket. The first end of the first connecting rod is fixedly connected to the laser emitter, the second end of the first connecting rod is connected to the second connecting rod to form a moving pair, and the first connecting rod can move along the axial direction of the second connecting rod. Both ends of the second connecting rod are respectively fixedly connected to a first bracket, the bottom of the first bracket is connected to the first guide rod to form a moving pair, and the first bracket can move along the axial direction of the first guide rod; second driving motors are respectively arranged on two first guide rods, and the second driving motors can drive the first bracket to move in the Y-axis direction along the axial direction of the first guide rod. A third driving motor is arranged on the second connecting rod, and the third driving motor can drive the first connecting rod to move in the X-axis direction along the axial direction of the second connecting rod;

[0011] The cutting assembly includes a cutting tool and a tool holder. The first end of the tool holder is fixedly connected to the second gantry upper platform, and the second end of the tool holder is fixedly connected to the cutting tool.

[0012] Preferably, the top of the first gantry bracket is connected to the first gantry upper platform by means of a lead screw and a lead screw nut inside the first gantry bracket, and the first gantry upper platform can move up and down along the Z-axis direction driven by the lead screw and the lead screw nut; the top of the second gantry bracket is connected to the second gantry upper platform by means of a lead screw and a lead screw nut inside the second gantry bracket, and the second gantry upper platform can move up and down along the Z-axis direction driven by the lead screw and the lead screw nut; the bottom of the second gantry bracket is connected to the second guide rod by means of a lead screw and a lead screw nut inside the second guide rod, and the second gantry can move along the axial direction of the second guide rod, i.e., along the Y-axis direction, driven by the lead screw and the lead screw nut; the second end of the first connecting rod is connected to the second connecting rod by means of a lead screw and a lead screw nut inside the second connecting rod, and the first connecting rod can move along the axial direction of the second connecting rod, i.e., along the X-axis direction, driven by the lead screw and the lead screw nut, and the bottom of the first bracket is connected to the first guide rod by means of a lead screw and a lead screw nut inside the first guide rod, and the first bracket moves along the axial direction of the first guide rod, i.e., along the Y-axis direction, driven by the lead screw and the lead screw nut.

[0013] Preferably, the fourth driving motor is arranged at the top of the first gantry bracket, the fifth driving motor is arranged on the side wall of the first gantry upper platform, and the sixth driving motor is arranged at the top of the second gantry bracket.

[0014] Preferably, the seventh driving motor is arranged on the second guide rod.

[0015] Preferably, the eighth driving motor is arranged at the bottom of the first platform.

[0016] Preferably, two columns are respectively arranged on both sides of the first gantry assembly, and one column is respectively arranged on both sides of the second gantry assembly.

[0017] On the other hand, the present invention also provides a method for automatically cutting the flash of large plates, which includes the following steps:

[0018] S1. Use the fourth driving motor to drive the rotation of the lead screw inside the first gantry bracket, and the lead screw nut drives the first gantry upper platform to move up and down along the Z-axis direction to find a suitable position. Then, the fifth driving motor installed on the first gantry upper platform drives the slider to move along the X-axis direction, and the first driving motor on the second platform drives the second platform and the structured light scanner to move together along the Y-axis direction. Through this movement, its position is adjusted so that the structured light scanner moves to the optimal working position;

[0019] S2. Positioning of the tool cutting point, which specifically includes the following sub-steps:

[0020] S21. Set the positive direction of the X-axis as the direction in which the device advances along the guide rail, the positive direction of the Y-axis as the direction of the axis of the tool holder, and the positive direction of the Z-axis as the direction in which the second gantry support moves upward along its axis. Select the contact point between the upper platform of the second gantry and the center of the tool holder as the origin O to establish a spatial rectangular coordinate system XYZ. Set the positive direction of the X1-axis as the direction in which the device advances along the guide rail, the positive direction of the Y1-axis as the telescopic direction of the second platform and the structured light scanner, and the positive direction of the Z1-axis as the direction of the irradiation axis of the structured light scanner. Take the center of the light source of the structured light scanner as the origin O1 to establish a spatial rectangular coordinate system X1Y1Z1. Set the positive direction of the X2-axis as the direction in which the device advances along the guide rail, the positive direction of the Y2-axis as the moving direction of the laser emitter and its attached components on the first guide rod, and the positive direction of the Z2-axis as the direction of the irradiation axis of the laser emitter. Select the center of the light source of the laser emitter as the origin O2 to establish a spatial rectangular coordinate system X2Y2Z2;

[0021] S22. Combine the second platform with the laser emitter through a connecting component. Use the second driving motor to control the laser emitter to move along the Y-axis direction, and the third driving motor to drive the laser emitter to move along the X-axis direction. When the laser emitter is aligned with the flash position, obtain the offset of the laser emitter relative to the structured light scanner, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ, and calculate the coordinates of the laser emitter;

[0022] S23. During the working process, assume that the coordinates of the structured light scanner, that is, the coordinates of the coordinate system X1Y1Z1 relative to the coordinate system XYZ, are (x1, y1, z1), and assume that the coordinates of the laser emitter, that is, the coordinates of the coordinate system X2Y2Z2 relative to the coordinate system XYZ, are (x2, y2, z2). Since the distance in the Z-axis direction between the laser emitter and the flash can be measured, let it be h. Through coordinate transformation, the coordinates (x, y, z) of the flash in the coordinate system XYZ can be obtained;

[0023] S24. During the actual operation process, the position of the coordinate system X1Y1Z1 of the structured light scanner relative to the coordinate system XYZ and the offset of the laser emitter relative to the structured light scanner can be measured by the encoders of the structured light scanner and each driving motor, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ is (t x , t y , t z ). Through coordinate transformation, the position of the laser emitter is obtained, that is

[0024]

[0025] and then the position of the flash is obtained;

[0026]

[0027] Let the coordinates of the cutting edge center of the tool be (x3, y3, z3) in the space rectangular coordinate system XYZ, and calculate the offset of the flash position (x, y, z) relative to the cutting edge center coordinates (x3, y3, z3):

[0028] t1 = x - x3

[0029] t2 = y - y3

[0030] t3 = Z - Z3;

[0031] S3. After obtaining the offset of the flash position relative to the cutting edge center coordinates, the cutting device moves along the X-axis direction by t1 under the drive of the eighth driving motor, and then uses the seventh driving motor to drive the second gantry bracket to move along the axis direction of the second guide rod, that is, the Y-axis direction, by t2, and uses the sixth driving motor to drive the upper platform of the second gantry to move along the axis direction of the second gantry bracket, that is, the Z-axis direction, by t3, so as to adjust the position of the tool to align with the position of the flash marked by the laser emitter, so that the tool head is aligned with the flash to be cut;

[0032] S4. Use the eighth driving motor to drive the wheels to move along the guide rail direction, that is, the X-axis direction, on the ground, so as to drive the whole cutting device to move forward along the guide rail through the wheels. During the movement, use the tool to cut the flash. During the cutting process, the flash is scanned by the structured light scanner, the whole machine stops moving, and then the laser emitter locates the flash. After that, the offset of the laser emitter relative to the structured light scanner is measured, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ. The coordinates of the laser emitter, that is, the coordinates of the coordinate system X2Y2Z2 relative to the coordinate system XYZ, are (x2, y2, z2). Finally, the position of the tool should be aligned with the position of the flash marked by the laser emitter. After the above transformation, the coordinates of the flash in the coordinate system XYZ are (x, y, z). Calculate the offsets t1, t2, and t3 of the flash position (x, y, z) relative to the cutting edge center coordinates (x3, y3, z3). Under the drive of the eighth driving motor, the seventh driving motor, and the sixth driving motor, the tool is aligned with the flash position to be cut; after the cutting is completed, the whole machine continues to move along the track;

[0033] S5. Repeat the above steps S2 - S4 to realize the cutting of the flash of large plates.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] (1) The present invention provides a large plate flash automatic cutting device using structured light for three-dimensional reconstruction and laser positioning, which can use structured light to perform three-dimensional reconstruction on a large plate, obtain the position information of the flash of the large plate, determine the position of the flash, with a simple method, high accuracy, and high degree of automation, and can greatly improve the working efficiency of flash cutting.

[0036] (2) The structured light scanner and its components of the present invention are installed together with the second platform. During use, the position of the laser emitter can be obtained by measuring the offset of the laser emitter relative to the structured light scanner. The position where the laser emitter irradiates on the plate is the position of the flash. By calculating the offset of the flash position relative to the coordinate of the center of the cutting edge, the cutting tool is aligned with the position of the flash driven by the drive motor, thereby realizing the precise automatic cutting of the flash of the large plate.

[0037] (3) Separating the scanning and positioning component from the cutting component reduces the influence of the vibration generated during tool cutting on the accuracy of the scanning and positioning component.

[0038] (4) The large plate flash automatic cutting method of the present invention can, in specific applications, realize the automatic cutting of the flash of a longer plate, and can realize cutting while detecting. After cutting is completed, the vehicle body can continue to move forward, and then cut the entire plate edge. Therefore, it has a very high working efficiency. At the same time, wheels for clamping the track are added to the bottom of the vehicle, making the positioning more accurate, thereby better ensuring the cutting accuracy and realizing the precise cutting of large plates. Description of the Drawings

[0039] Figure 1 is the overall structural schematic diagram of the present invention;

[0040] Figure 2 is the front view of the overall structural schematic diagram of the present invention;

[0041] Figure 3 is the top view of the overall structural schematic diagram of the present invention;

[0042] Figure 4 is the structural schematic diagram of the two-axis moving platform of the present invention;

[0043] Figure 5 is the flow schematic diagram of the cutting method of the present invention.

[0044] Some reference numerals in the drawings are as follows:

[0045] Front wheel 1, first platform 2, first gantry support 3, cutting tool 4, tool holder 5, structured light scanner 6, first drive motor 7, second drive motor 8, laser emitter 9, first connecting rod 10, second connecting rod 11, third drive motor 12, first support 13, first guide rod 14, first base 15, telescopic rod 16, slider 17, second platform 18, fourth drive motor 19, fifth drive motor 20, first upper gantry platform 21, sixth drive motor 22, second upper gantry platform 23, second gantry support 24, second guide rod 25, second base 26, seventh drive motor 27, first side wheel 28, second side wheel 29, eighth drive motor 30, rear wheel 31. Detailed implementation mode

[0046] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0047] Specifically, the present invention provides a large sheet metal flashing automatic cutting device, which includes a chassis wheel assembly, a first gantry assembly, a second gantry assembly, a scanning and positioning assembly, and a cutting assembly. The chassis wheel assembly includes a front wheel 1, a first platform 2, a first side wheel 28, a second side wheel 29, an eighth drive motor 30, and a rear wheel 31. The first gantry assembly includes a first gantry support 3, a telescopic rod 16, a slider 17, a fourth drive motor 19, a fifth drive motor 20, and a first upper gantry platform 21. The second gantry assembly includes a sixth drive motor 22, a second upper gantry platform 23, a second gantry support 24, a second guide rod 25, a second base 26, and a seventh drive motor 27. The scanning and positioning assembly includes a structured light scanner 6, a first drive motor 7, a second drive motor 8, a laser emitter 9, a first connecting rod 10, a second connecting rod 11, a third drive motor 12, a first support 13, a first guide rod 14, a first base 15, and a second platform 18. The cutting assembly includes a cutting tool 4 and a tool holder 5.

[0048] The second gantry support 24 is arranged inside the first gantry support 3. The first gantry support 3 is fixedly connected to the first platform 2. The second gantry support 24 is connected to the second guide rod 25 by means of a moving pair. The second guide rod 25 is fixedly connected to the second base 26. The second base 26 is fixedly connected to the first platform 2. The scanning and positioning assembly and the slider 17 are connected by a telescopic rod 16. The first upper gantry platform 21 is provided with a slide rail, and the slider 17 is arranged on the slide rail. The slide rail and the slider 17 are connected to realize the sliding connection between the first gantry assembly and the scanning and positioning assembly. The cutting assembly is integrally fixedly connected to the second upper gantry platform 23.

[0049] The first gantry support 3 includes four columns. The four columns and the first gantry upper platform 21 together form the first gantry. The second gantry support 24 includes two columns. The two columns and the second gantry upper platform 23 together form the second gantry. The upper platforms of the two gantries are both installed at the top of the support. Inside both the first gantry support 3 and the second gantry support 24, a lead screw is provided. The first gantry support 3 is equipped with a fourth drive motor 19, and the second gantry support 24 is equipped with a sixth drive motor 22. The fourth drive motor 19 and the sixth drive motor 22 can respectively drive the up and down movement of the first gantry upper platform 21 and the second gantry upper platform 23, that is, the movement along the Z-axis direction. When the motor works, the motor drives the lead screw inside the support, and under the drive of the lead screw nut, the upper platform moves up and down, that is, the movement along the Z-axis direction.

[0050] In a specific embodiment of the present invention, two columns are respectively arranged on each side of the first gantry support 3, that is, a total of four columns are arranged. One column is respectively arranged on both sides of the second gantry support 24, that is, a total of two columns are arranged.

[0051] The bottoms of the four columns of the first gantry support 3 are fixedly connected to the first platform 2. The bottoms of the two columns of the second gantry support 24 are connected to the second guide rod 25 with a moving pair. The second guide rod 25 is fixedly connected to the second base 26. The second base 26 is fixedly connected to the first platform 2. The second gantry support 24 can move on the second guide rod 25. A seventh drive motor 27 is connected to the second guide rod 25. The seventh drive motor 27 drives the second gantry support 24 to move axially along the second guide rod 25, that is, the movement along the Y-axis direction.

[0052] The cutting assembly includes a tool 4 and a tool holder 5. The first end of the tool holder 5 is fixedly connected to the second gantry upper platform 23, and the second end of the tool holder 5 is fixedly connected to the tool 4.

[0053] The scanning and positioning assembly includes a structured light scanner 6, a first driving motor 7, a second driving motor 8, a laser emitter 9, a first connecting rod 10, a second connecting rod 11, a third driving motor 12, a first support 13, a first guide rod 14, a first base 15 and a second platform 18. The laser emitter 9 is connected to the slider 17 through a telescopic rod 16 by means of the second platform 18 and the components it carries. The slider 17 is installed on the slide rail of the upper platform 21 of the first gantry. The structured light scanner 6 is fixedly connected to the side wall of the second platform 18. A first base 15 is fixed on the second platform 18, and a first guide rod 14 is fixed on the first base 15. The laser emitter 9 is connected to the first guide rod 14 by means of a connecting component, so that it can move along the axial direction of the first guide rod 14, that is, move along the Y-axis direction. The connecting component includes a first connecting rod 10, a second connecting rod 11 and a first support 13. The first end of the first connecting rod 10 is fixedly connected to the laser emitter 9. The second end of the first connecting rod 10 is connected to the second connecting rod 11 by a moving pair and can move along the second connecting rod 11, that is, move along the X-axis direction. One first support 13 is fixedly connected to each end of the second connecting rod 11. The bottom of the first support 13 is connected to the first guide rod 14 to form a moving pair, and a second driving motor 8 is installed on the first guide rod 14.

[0054] The slide rail cooperating with the slider 17 is arranged on the upper platform 21 of the first gantry. The slider 17 and the telescopic rod 16 are used to connect the second platform 18 and the scanning and positioning assembly it carries to the upper platform 21 of the first gantry.

[0055] Preferably, the bottom of the first platform 2 is provided with front wheels 1, first side wheels 28, second side wheels 29, rear wheels 31 and an eighth driving motor 30. Among them, the front wheels 1 and the rear wheels 31 are symmetrically placed on both sides of the first platform 2. The eighth driving motor 30 can drive the above-mentioned wheels to move, so as to drive the whole device to move.

[0056] Another aspect of the present invention also provides a cutting method, as Figure 5 shown, which specifically includes the following steps:

[0057] S1. Use the fourth driving motor to drive the rotation of the lead screw inside the first gantry bracket. The lead screw nut drives the upper platform of the first gantry to move up and down, that is, move along the Z-axis direction, and find a suitable position. Then, the fifth driving motor installed on the upper platform of the first gantry drives the slider to move along the X-axis direction, and the first driving motor on the second platform drives the second platform and the structured light scanner to move together along the Y-axis direction. Through this movement, adjust its position so that the structured light scanner moves to the optimal working position;

[0058] S2. Positioning the cutting point of the tool, which specifically includes the following sub-steps:

[0059] S21. Set the positive direction of the X-axis as the direction in which the device advances along the guide rail, the positive direction of the Y-axis as the direction of the axis of the tool shank, and the positive direction of the Z-axis as the direction in which the second gantry support moves upward along its axis. Select the contact point between the upper platform of the second gantry and the center of the tool shank as the origin O to establish a spatial rectangular coordinate system XYZ. Set the positive direction of the X1-axis as the direction in which the device advances along the guide rail, the positive direction of the Y1-axis as the direction of the telescopic direction of the second platform and the structured light scanner, and the positive direction of the Z1-axis as the direction of the irradiation axis of the structured light scanner. Select the center of the light source of the structured light scanner as the origin O1 to establish a spatial rectangular coordinate system X1Y1Z1. Set the positive direction of the X2-axis as the direction in which the device advances along the guide rail, the positive direction of the Y2-axis as the moving direction of the laser emitter and its attached components on the first guide rod, and the positive direction of the Z2-axis as the direction of the irradiation axis of the laser emitter. Select the center of the light source of the laser emitter as the origin O2 to establish a spatial rectangular coordinate system X2Y2Z2.

[0060] S22. Combine the second platform with the laser emitter through a connecting component. Use the second driving motor to control the movement of the laser emitter along the Y-axis direction, and the third driving motor to drive the laser emitter along the X-axis direction. When the laser emitter is aligned with the flash position, obtain the offset of the laser emitter relative to the structured light scanner, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ, and the coordinates of the laser emitter can be calculated.

[0061] S23. During the working process, let the coordinates of the structured light scanner, that is, the coordinates of the coordinate system X1Y1Z1 relative to the coordinate system XYZ, be (x1, y1, z1), and let the coordinates of the laser emitter, that is, the coordinates of the coordinate system X2Y2Z2 relative to the coordinate system XYZ, be (x2, y2, z2). Since the distance in the Z-axis direction between the laser emitter and the flash can be measured, let it be h. Through coordinate transformation, the coordinates (x, y, z) of the flash in the coordinate system XYZ can be obtained.

[0062] S24. During the actual operation process, the position of the coordinate system X1Y1Z1 of the structured light scanner relative to the coordinate system XYZ and the offset of the laser emitter relative to the structured light scanner can be measured by the encoders of the structured light scanner and each driving motor, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ is (t x , t y , t z ). Through coordinate transformation, the position of the laser emitter is obtained, that is

[0063]

[0064] and then the position of the flash is obtained;

[0065]

[0066] Suppose the coordinates of the center of the cutting edge of the tool in the spatial rectangular coordinate system XYZ are (x3, y3, z3), and calculate the offset of the flash position (x, y, z) relative to the coordinates of the center of the cutting edge (x3, y3, z3):

[0067] t1 = x - x3

[0068] t2 = y - y3

[0069] t3 = Z - Z3.

[0070] S3. After obtaining the offset of the flash position relative to the coordinates of the center of the cutting edge, the cutting device moves along the X-axis direction by t1 under the drive of the eighth driving motor, uses the seventh driving motor to drive the second gantry bracket to move along the axis direction of the second guide rod, that is, the Y-axis direction, by t2, and uses the sixth driving motor to drive the upper platform of the second gantry to move along the axis direction of the second gantry bracket, that is, the Z-axis direction, by t3, so as to adjust the position of the tool to align with the position of the flash marked by the laser emitter, so that the head of the tool is aligned with the flash to be cut.

[0071] S4. Use the eighth driving motor to drive the wheels to move along the guide rail direction, that is, the X-axis direction, on the ground, so as to drive the whole device to move forward along the guide rail through the wheels. During the movement, use the tool to cut the flash. During the cutting process, the flash is scanned by the structured light scanner, the whole machine stops moving, then the laser emitter locates the flash, and then the offset of the laser emitter relative to the structured light scanner is measured, that is, the offset of the coordinate system X2Y2Z2 relative to the coordinate system X1Y1Z1 in the coordinate system XYZ, and the coordinates of the laser emitter, that is, the coordinates of the coordinate system X2Y2Z2 relative to the coordinate system XYZ, are (x2, y2, z2). Finally, the position of the tool should be aligned with the position of the flash marked by the laser emitter. After the above transformation, the coordinates of the flash in the coordinate system XYZ are (x, y, z). Calculate the offsets t1, t2, and t3 of the flash position (x, y, z) relative to the coordinates of the center of the cutting edge (x3, y3, z3), and the tool is aligned with the flash position to be cut under the drive of the eighth driving motor, the seventh driving motor, and the sixth driving motor. After the cutting is completed, the whole machine continues to move along the track.

[0072] S5. Repeat the above steps S2 - S4 to realize the cutting of the flash of the large plate. Specific embodiments

[0074] Such as Figures 1 to 5As shown in the figure, an embodiment of the present invention provides an automatic trimming device for large-sized sheet metal. Driven by the eighth driving motor 30, the first side wheel 28 and the second side wheel 29 clamped on both sides of the guide rail move along the guide rail, so that the whole device moves linearly along the guide rail direction, that is, moves along the X-axis direction. The front wheel 1 and the rear wheel 31 move linearly on the ground, that is, move along the X-axis direction. The first platform 2 is installed above a plurality of wheels such as the front wheel 1. The first gantry bracket 3 is fixedly connected to the first platform 2. The fourth driving motor 19 drives the first gantry upper platform 21 to move up and down, and the moving direction is the Z-axis direction. Before starting the measurement, the device is adjusted to a suitable position to facilitate structured light measurement. The first gantry upper platform 21 can move up and down along the first gantry bracket 3, that is, move along the Z-axis direction. The second base 26 is fixedly connected to the first platform 2. The second guide rod 25 is fixedly connected to the second base 26 and is connected to the second gantry bracket 24 by a moving pair. The seventh driving motor 27 drives the second gantry bracket 24 to move axially along the second guide rod 25, that is, move along the Y-axis direction. The second gantry upper platform 23 is installed on the second gantry bracket 24. The second gantry upper platform 23 is connected to the second gantry bracket 24 by a moving pair. The sixth driving motor 22 can drive the second gantry upper platform 23 to move up and down in the Z-axis direction. The tool holder 5 is fixedly connected to the tool 4 and then fixedly connected to the second gantry upper platform 23, and moves up and down in the Z-axis direction and moves in the Y-axis direction with the second gantry upper platform 23 and cooperates with the X-axis movement of the chassis wheel assembly to position at the trimming edge to be cut of the large-sized sheet metal.

[0075] The first gantry upper platform 21 is installed on the first gantry bracket 3. The first gantry bracket 3 and the first gantry upper platform 21 are connected by means of a moving pair. The fourth drive motor 19 can drive the first gantry upper platform 21 to move up and down in the Z-axis direction. The slider 17 and the first gantry upper platform 21 are connected by means of a moving pair. The fifth drive motor 20 can drive the slider 17 to move along the first gantry upper platform 21, that is, to move along the X-axis direction. The second platform 18 and the slider 17 are connected together by the telescopic rod 16 and slide on the first gantry upper platform 21 together with the slider 17. Under the drive of the first drive motor 7, the telescopic movement of the second platform 18 is realized, that is, to move along the Y-axis direction. The first base 15 and the second platform 18 are fixedly connected together. The first bracket 13 is connected to the first guide rod 14 by a moving pair. The first guide rod 14 and the first base 15 are fixedly connected. The second connecting rod 11 and the first bracket 13 are fixedly connected. The first connecting rod 10 is connected to the second connecting rod 11 by a moving pair. The second drive motor 8 drives the first bracket 13 to move along the axial direction of the first guide rod 14, that is, to move along the Y-axis direction. The laser emitter 9 is fixedly connected to the first connecting rod 10. The third drive motor 12 drives the first connecting rod 10 to move along the axial direction of the second connecting rod 11, that is, to move along the X-axis direction, thereby driving the laser emitter 9 to move. The first connecting rod 10, the second connecting rod 11, the first bracket 13, the first guide rod 14, the first base 15, the second platform 18, the second drive motor 8 and the third drive motor 12 together constitute a two-axis moving platform to realize the control of the movement of the laser emitter 9 in the plane. The structured light scanner 6 is fixedly connected to the second platform 18 and moves with it to realize the scanning and three-dimensional reconstruction of the flash on the large plate.

[0076] The cutting device of the present invention can use structured light to perform three-dimensional reconstruction on a large plate to obtain accurate position information of the flash on the large plate and quickly determine the position of the flash. Moreover, the scanning and positioning assembly is installed together with the second platform 18. The position of the laser emitter 9 can be obtained by measuring the offset of the laser emitter 9 relative to the structured light scanner 6, and the tool 4 is aligned with the flash marked by the laser emitter 9. Then, by calculation, the offset of the position of the flash relative to the cutting edge center coordinates of the tool 4 is obtained, and the tool 4 is driven by the drive motor to move to the position of the flash, so as to realize the automatic and accurate cutting of the flash on the large plate.

[0077] The embodiments described above are only descriptions of the preferred embodiments of the present invention and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An automatic flash removing device for large-sized plates, characterized in that: It includes a chassis wheel assembly, a first gantry assembly, a second gantry assembly, a scanning and positioning assembly, and a cutting assembly; The chassis wheel assembly includes a plurality of wheels, a first platform, and an eighth driving motor, and the plurality of wheels are arranged at the bottom of the first platform; Both the first gantry assembly and the second gantry assembly are fixedly connected to the first platform, the second gantry assembly is arranged inside the first gantry assembly, the scanning and positioning assembly is arranged on the first gantry assembly, and the cutting assembly is fixedly connected to the second gantry assembly; The first gantry assembly includes a first gantry bracket, a telescopic rod, a slider, a fourth driving motor, a fifth driving motor, and a first gantry upper platform; the bottom of the first gantry bracket is fixedly connected to the first platform, the top of the first gantry bracket is interconnected with the first gantry upper platform to form a moving pair, the first gantry upper platform can move up and down along the first gantry bracket, i.e., in the Z-axis direction, the first gantry upper platform is provided with a slide rail, and the slide rail is connected with a slider that cooperates with the slide rail; the fourth driving motor is used to drive the first gantry upper platform to move up and down in the Z-axis direction, and the fifth driving motor is used to drive the slider to move in the X axis direction; The second gantry assembly includes a sixth driving motor, a second gantry upper platform, a second gantry bracket, a second guide rod, a second base, and a seventh driving motor; the bottom of the second gantry bracket is connected to the second guide rod to form a moving pair, the second guide rod is fixedly connected to the second base, the second base is fixedly connected to the first platform, and the second gantry bracket can move along the axial direction of the second guide rod; the sixth driving motor is used to drive the second gantry upper platform to move up and down along the Z-axis direction, and the seventh driving motor is used to drive the second gantry bracket to move in the Y axial direction of the axis; The scanning and positioning assembly includes a structured light scanner, a first driving motor, a second driving motor, a laser emitter, a first connecting rod, a second connecting rod, a third driving motor, a first bracket, a first guide rod, a first base, and a second platform; the laser emitter is connected to a slider through a telescopic rod by means of the second platform and the components carried by the second platform, and the slider is used to connect the first gantry upper platform with the second platform, and the structured light scanner and the laser emitter fixed on the second platform. The first driving motor on the second platform drives the second platform, the structured light scanner, and the laser emitter to perform telescopic movement in the Y axis direction; the slider drives the second platform, the structured light scanner, and the laser emitter to move in the X axis direction; the structured light scanner is fixedly connected to the side wall of the second platform; a first base is fixed on the second platform, and a first guide rod is fixed on the first base. The laser emitter is connected to the first guide rod by means of a connecting component, so that it can move along the axial direction of the first guide rod. The connecting component includes a first connecting rod, a second connecting rod, and a first bracket. The first end of the first connecting rod is fixedly connected to the laser emitter, the second end of the first connecting rod is connected to the second connecting rod and forms a moving pair, and the first connecting rod can move along the axial direction of the second connecting rod. Both ends of the second connecting rod are respectively fixedly connected with a first bracket, and the bottom of the first bracket is connected to the first guide rod and forms a moving pair, and the first bracket can move along the axial direction of the first guide rod; second driving motors are respectively arranged on two first guide rods, and the second driving motors can drive the first bracket to move in the Y axis direction along the axial direction of the first guide rod. A third driving motor is arranged on the second connecting rod, and the third driving motor can drive the first connecting rod to move along the axial direction of the second connecting rod, that is, the X-axis direction; The cutting assembly includes a cutting tool and a tool holder, the first end of the tool holder is fixedly connected to the upper platform of the second gantry, and the second end of the tool holder is fixedly connected with the cutting tool.

2. The automatic large sheet flashing removal device according to claim 1, characterized in that: The top of the first gantry bracket is connected to the upper platform of the first gantry by means of a lead screw and a lead screw nut inside the first gantry bracket, and the upper platform of the first gantry can move up and down along the Z-axis direction driven by the lead screw and the lead screw nut; the top of the second gantry bracket is connected to the upper platform of the second gantry by means of a lead screw and a lead screw nut inside the second gantry bracket, and the upper platform of the second gantry can move up and down along the Z-axis direction driven by the lead screw and the lead screw nut; the bottom of the second gantry bracket is connected to the second guide rod by means of a lead screw and a lead screw nut inside the second guide rod, and the second gantry assembly can move along the axial direction of the second guide rod, that is, the Y-axis direction driven by the lead screw and the lead screw nut; the second end of the first connecting rod is connected to the second connecting rod by means of a lead screw and a lead screw nut inside the second connecting rod, and the first connecting rod can move along the axial direction of the second connecting rod, that is, the X-axis direction driven by the lead screw and the lead screw nut, and the bottom of the first bracket is connected to the first guide rod by means of a lead screw and a lead screw nut inside the first guide rod, and the first bracket moves along the axial direction of the first guide rod, that is, the Y-axis direction driven by the lead screw and the lead screw nut.

3. The automatic large sheet flashing removal device according to claim 1, characterized in that: The fourth driving motor is arranged at the top of the first gantry bracket, the fifth driving motor is arranged on the side wall of the upper platform of the first gantry, and the sixth driving motor is arranged at the top of the second gantry bracket.

4. The automatic large sheet flashing removal device according to claim 1, characterized in that: The seventh driving motor is arranged on the second guide rod.

5. The automatic flash removal device for large plates according to claim 1, characterized in that: The eighth driving motor is arranged at the bottom of the first platform.

6. The automatic trimming device for large-sized sheet material flash according to claim 1, characterized in that: Two columns are respectively arranged on both sides of the first gantry assembly, and one column is respectively arranged on both sides of the second gantry assembly.

7. A method for removing flash from large-sized plates using the large-sized plate flash automatic removal device described in claim 1, characterized in that: It includes the following steps: S1. Use the fourth driving motor to drive the rotation of the lead screw inside the first gantry bracket, and the lead screw nut drives the upper platform of the first gantry to move up and down along the Z-axis direction to find a suitable position. Then, the fifth driving motor installed on the upper platform of the first gantry drives the slider to move along the X-axis direction, and the first driving motor on the second platform drives the second platform and the structured light scanner to move together along the Y-axis direction. Through this movement, its position is adjusted so that the structured light scanner moves to the optimal working position; S2. Positioning of the cutting point of the cutting tool, specifically including the following sub-steps: S21, set the direction of the device moving along the guide rail to X Axis positive direction, set the tool handle axis direction to Y Axis positive direction, set the second gantry bracket upward direction along the axis Z In the positive direction of the axis, select the point where the second gantry upper platform contacts the center of the tool handle as the origin O Establishing a spatial rectangular coordinate system XYZ ; Set the direction of the device moving along the guide rail to Axis positive direction, set the second platform and structured light scanner extension direction to Axis positive direction, set the direction of the structured light scanner irradiation axis to The positive direction of the axis is based on the center of the structured light scanner light source as the origin Establishing a spatial rectangular coordinate system ; Set the direction of the device moving along the guide rail to Axis positive direction, set the movement direction of the laser transmitter and its auxiliary components on the first guide rod to Axis positive direction, set the direction of the laser emitter irradiating the axis In the positive direction of the axis, select the center of the laser emitter light source as the origin Establishing a spatial rectangular coordinate system ; S22. Combine the second platform with the laser emitter through a connecting component, and use the second driving motor to control the movement of the laser emitter along the Y axis direction, and use the third driving motor to drive the laser emitter to move along the X axis direction. After the laser emitter is aligned with the flash position, obtain the offset of the laser emitter relative to the structured light scanner, that is, in the coordinate system XYZ the coordinate system relative to the coordinate system offset, and the coordinates of the laser emitter can be calculated; S23. During the working process, set the coordinates of the structured light scanner as the coordinate system relative to the coordinate system XYZ to be , and set the coordinates of the laser emitter as the coordinate system relative to the coordinate system XYZ to be . Since the axial distance between the laser emitter and the flash can be measured and is set as Z h , the coordinates of the flash in the coordinate system h can be obtained through coordinate transformation XYZ as ; S24. During the actual operation process, the coordinates of the structured light scanner are the coordinate system relative to the coordinate system XYZ and the offset of the laser emitter relative to the structured light scanner can be measured by the encoders of the structured light scanner and each drive motor, that is, in the coordinate system XYZ the coordinate system relative to the coordinate system is , and the position of the laser emitter is obtained through coordinate transformation, that is ； Furthermore, the position of the flash is obtained; ； Let the coordinates of the cutting edge center of the tool be in the space rectangular coordinate system XYZ as follows , calculate the offset of the flash position relative to the coordinates of the cutting edge center : ； ； ； After obtaining the offset of the flash position relative to the coordinate of the center of the cutting edge, the cutting device moves along the X axis direction under the drive of the eighth drive motor. After that, the seventh drive motor is used to drive the second gantry bracket to move along the axis direction of the second guide rod, that is, Y axis direction . The sixth drive motor is used to drive the upper platform of the second gantry to move along the axis direction of the second gantry bracket, that is, Z axis direction . Thus, the position of the cutting tool is adjusted to align with the position of the flash marked by the laser emitter, so that the cutting tool head is aligned with the flash to be cut; S4. Use the eighth drive motor to drive the wheels to move along the guide rail direction on the ground, i.e., X the axial direction, so as to drive the whole cutting device to move forward along the guide rail through the wheels. During the movement, use the tool to cut the flash. During the cutting process, the flash is scanned by the structured light scanner, and the whole machine stops moving. Then the laser emitter locates the flash, and then the offset of the laser emitter relative to the structured light scanner is measured, that is, in the coordinate system XYZ the coordinate system relative to the coordinate system to obtain the coordinates of the laser emitter, that is, the coordinate system relative to the coordinate system XYZ is . Finally, the position of the tool is aligned with the flash position marked by the laser emitter. After the above transformation, the coordinates of the flash in the coordinate system XYZ are . Calculate the offset of the flash position relative to the coordinate of the blade center as , , . Under the drive of the eighth drive motor, the seventh drive motor and the sixth drive motor, the tool is aligned with the flash position to be cut; after the cutting is completed, the whole machine continues to move along the track; S5. Repeat the above steps S2 - S4 to achieve the cutting of the flash on large plates.

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