Beveling method and beveling system for special-shaped workpieces

Abstract

The present application relates to the field of engineering machinery processing, and discloses a groove processing method and groove processing system for special-shaped workpieces, the groove processing method comprising: obtaining the preset position of the processing end portion of the first groove of the special-shaped workpiece; obtaining the actual position of the processing end portion of the first groove processed by the first groove processing device of the special-shaped workpiece through a visual device; determining the position difference value between the actual position of the processing end portion of the first groove and the preset position of the processing end portion of the first groove; determining that the position difference value is less than or equal to the preset difference value, and correcting the preset second processing program of the second groove processing device for processing the second groove of the special-shaped workpiece, so that the preset position of the intersection end portion of the second groove in the preset second processing program is connected with the actual position of the processing end portion of the first groove. The groove processing method and groove processing system for special-shaped workpieces of the present application can effectively improve the processing quality and processing efficiency of the groove.

Description

Technical Field

[0001] The present application belongs to the field of engineering machinery processing, and specifically relates to a groove processing method and a groove processing system for special-shaped workpieces. Background Art

[0002] With the widespread application of intelligent manufacturing technology, the requirements for parts in the subsequent assembly and welding processes are getting higher and higher, especially the high requirements for the accuracy of the groove of parts. The complex groove processing of extra-long and special-shaped parts has always been a technical problem in the industry. The existing manual processing methods have poor processing quality and low processing efficiency, and it is difficult to meet the requirements of automation and intelligence for subsequent welding. Summary of the invention

[0003] The purpose of the present application is to provide a groove processing method and a groove processing system for special-shaped workpieces, so as to effectively improve the processing quality and processing efficiency of the groove.

[0004] In order to achieve the above-mentioned object, the present application provides, on one hand, a groove processing method for a special-shaped workpiece, the groove processing method comprising:

[0005] Acquiring a preset position of a machining end portion of a first groove of the special-shaped workpiece according to a preset first machining program of the first groove machining device;

[0006] Acquiring, by a visual device, an actual position of a machining end portion of a first groove of the special-shaped workpiece machined by the first groove machining device;

[0007] Determine a position difference value between an actual position of a machining end portion of the first groove and a preset position of the machining end portion of the first groove;

[0008] Determine that the position difference value is less than or equal to a preset difference value, and correct the preset second processing program of the second groove processing device used to process the second groove of the special-shaped workpiece, so that the preset position of the intersection end of the second groove in the corrected preset second processing program is connected with the actual position of the processing end of the first groove.

[0009] In some specific embodiments, the first beveling processing device is a milling device for beveling the straight edge of the special-shaped workpiece, and the first beveling is a machined beveling. The second beveling processing device is a thermal cutting device for beveling the special-shaped edge of the special-shaped workpiece, and the second beveling is a thermally cut beveling.

[0010] In some specific embodiments, the special-shaped workpiece can be loaded into the edge milling device by a loading and unloading device, and the preset difference value is L, which satisfies: ,

[0011] Wherein, R is the diameter of the milling cutter disc of the edge milling device, and E is the cumulative maximum deviation of the accuracy of the loading and unloading device.

[0012] In some specific embodiments, the modification of the preset second processing program of the second groove processing device for processing the second groove of the special-shaped workpiece includes:

[0013] By means of coordinate conversion, the coordinates of the preset position of the intersection end of the second groove in the preset second processing program are replaced with the coordinates of the actual position of the processing end portion of the first groove;

[0014] Correct the preset machining trajectory of the second groove in the preset second machining program.

[0015] In some specific embodiments, the groove processing method further comprises:

[0016] The second groove processing device is controlled to perform groove processing on the special-shaped workpiece according to the revised preset second processing program.

[0017] In some specific embodiments, the visual device includes a line laser camera, and obtaining the actual position of the processing end portion of the first groove processed by the first groove processing device on the special-shaped workpiece through the visual device includes:

[0018] Scanning the contour of the special-shaped workpiece using the preset position of the machining end portion of the first groove as the scanning center of the visual device, and acquiring a scanned point cloud image;

[0019] Acquire an actual machining trajectory of the first groove according to the point cloud image;

[0020] The actual processing trajectory of the first groove is compared and fitted with the preset processing trajectory of the first groove to obtain the actual position of the processing end portion of the first groove.

[0021] In some specific embodiments, the groove processing method further comprises:

[0022] It is determined that the position difference value is greater than the preset difference value, and subsequent processing steps of the special-shaped workpiece are stopped.

[0023] In some specific embodiments, the thermal cutting device comprises:

[0024] A thermal cutting workbench, used for carrying the special-shaped workpiece;

[0025] a robot external axis disposed adjacent to the thermal cutting table;

[0026] An articulated arm robot, wherein the articulated arm robot is movably arranged on an external axis of the robot and can move on the external axis of the robot, a thermal cutting mechanism is provided on the end arm section of the articulated arm robot, and the visual device is arranged on the articulated arm robot.

[0027] In some specific embodiments, the step of obtaining, by a visual device, the actual position of the machining end portion of the first groove machined by the first groove machining device on the special-shaped workpiece comprises:

[0028] The visual device is driven to move and scan based on controlling the articulated arm robot and the robot's external axis.

[0029] In some specific embodiments, before obtaining the actual position of the machining end portion of the first groove machined by the first groove machining device on the special-shaped workpiece through the visual device, the groove machining method further includes:

[0030] The first groove processing device is controlled to process the first groove on the special-shaped workpiece according to a preset first processing program.

[0031] In some specific embodiments, after controlling the first groove processing device to process the first groove on the special-shaped workpiece according to a preset first processing program, the groove processing method further includes:

[0032] The loading and unloading device and the first conveying device are controlled to transfer the special-shaped workpiece from the first groove processing device to the second groove processing device.

[0033] A second aspect of the present application provides a groove processing system for special-shaped workpieces, wherein the groove processing system applies the above-mentioned groove processing method for special-shaped workpieces.

[0034] Since special-shaped workpieces have special-shaped grooves and straight-edge grooves, the actual intersection positions between different grooves can be determined by using different groove processing devices to process different grooves and combining visual devices to scan the processed groove ends, so that the subsequent groove processing procedures can be corrected to ensure the groove processing accuracy and groove consistency, which is beneficial to improve the quality of subsequent automated welding and improve processing efficiency.

[0035] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0037] Figure 1 A schematic structural diagram of a groove processing system for a special-shaped workpiece according to a specific embodiment of the present application is shown;

[0038] Figure 2 for Figure 1 A top view of a groove processing system for special-shaped workpieces;

[0039] Figure 3 A schematic structural diagram of an edge milling device according to a specific embodiment of the present application is shown;

[0040] Figure 4 A schematic structural diagram of a groove processing system for a special-shaped workpiece according to another specific embodiment of the present application is shown;

[0041] Figure 5 A schematic structural diagram of a special-shaped workpiece processed by a groove processing system for a special-shaped workpiece according to a specific embodiment of the present application is shown;

[0042] Figure 6 Shows Figure 5 Preset groove special trajectory points for special-shaped workpieces;

[0043] Figure 7 A method flow chart of the groove processing method for special-shaped workpieces of the present application is shown.

[0044] Description of Reference Numerals

[0045] 11. Milling device; 12. Thermal cutting device; 121. Thermal cutting workbench; 122. Robot external axis; 123. Articulated arm robot; 13. First conveying device; 131. Conveying track; 132. Carrying mechanism; 14. Grinding device; 15. Second conveying device; 16. Scanning code detection device; 17. Dust removal device; 2. Special-shaped workpiece; 21. Machined bevel; 22. Thermal cutting bevel; A. Starting part of thermal cutting bevel; B. Intersection point of special-shaped bevel and straight bevel; C. Intersection point of thermal cutting bevel and machined bevel; D. Starting part of machined bevel DETAILED DESCRIPTION

[0046] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0047] In the field of engineering machinery processing, it is often necessary to process super-long workpieces. The length of these super-long workpieces is usually more than 7m, and long bevels are required. Existing super-long special-shaped workpieces usually have complex bevels, such as straight bevels and special-shaped bevels that are connected end to end. Special-shaped bevels include arc bevels or other irregular bevels, etc., with many processing edges. Generally, most of the bevel processing is done by traditional milling machines or traditional double-sided milling machines, and then the bevel processing of corners, arcs, etc. is done manually. The processing process has typical characteristics such as complex equipment types, high handling frequency, and large personnel requirements. At present, super-long special-shaped workpieces are usually processed in traditional workpiece processing workshops. The specific process flow is: loading → bevel milling → unloading → transfer to the manual area → loading → manual bevel cutting (handheld cutting torch) → unloading → transfer to the grinding area → manual grinding → unloading. Specifically, first, the workpiece is placed on the machining equipment using a lifting tool. The operator refers to the process documents and operates the equipment to perform tool alignment, trial cutting, and milling on the workpiece. If the part has a double-sided bevel, it needs to be turned over and processed again. Then, the operator uses the lifting tool to put the workpiece back into the carrier, and the workpiece is transferred to the manual bevel area by a side forklift or a workshop crane, and the workpiece is placed on the operating table using a lifting tool. Then, the operator uses a handheld cutting torch to cut out the bevel that the equipment cannot process according to the process documents, and then uses the lifting tool to put the workpiece back into the carrier, and the workpiece is transferred to the manual grinding area by a side forklift or a workshop crane. Finally, the grinder needs to grind the burrs of the machined bevel, the oxide scale, cutting slag, and raised parts of the manual bevel, and then place the workpiece in the carrier to achieve the storage state. It can be seen that in the existing processing methods, in addition to the complex process, the process of preparing process documents and process disclosure during the processing is even more cumbersome.

[0048] Moreover, with the widespread application of intelligent manufacturing technology, the subsequent assembly and welding processes have higher and higher requirements for parts, especially for the accuracy of part grooves. Figure 5 Take the typical extra-long special-shaped workpiece shown as an example. The groove processing length of the special-shaped workpiece is long and complex. There are multiple routing forms such as "straight line", "transition arc" and "circular arc" on the single groove. If only "machine processing" is used, the groove cannot be formed in one time. If only manual "thermal cutting" is used, the cutting distance is too long, there are cumulative errors, and the processing quality is unstable. For existing workpieces that use manual and machine processing methods, the consistency of the two grooves is poor, the processing quality is poor, the processing efficiency is low, and the subsequent automated welding is greatly affected, and it is difficult to meet the requirements of automation and intelligence for subsequent welding.

[0049] In view of this, if Figure 7 As shown, the present application provides a groove processing method for a special-shaped workpiece, and the groove processing method comprises:

[0050] Obtaining a preset position of a machining end portion of the first groove of the special-shaped workpiece 2 through a preset first machining program of the first groove machining device;

[0051] Acquiring, by means of a visual device, an actual position of a machining end portion of a first groove of the special-shaped workpiece 2 machined by the first groove machining device;

[0052] Determine a position difference value between an actual position of a machining end portion of the first groove and a preset position of the machining end portion of the first groove;

[0053] Determine that the position difference value is less than or equal to the preset difference value, and correct the preset second processing program of the second groove processing device used to process the second groove of the special-shaped workpiece 2, so that the preset position of the intersection end of the second groove in the corrected preset second processing program is connected with the actual position of the processing end of the first groove.

[0054] Among them, the preset position of the intersection end of the second groove is the preset position of the end where the second groove connects with the first groove, the preset difference value can be designed according to the actual processing situation and the configuration of the processing device, and the preset position of the processing end of the first groove of the special-shaped workpiece 2 can be obtained from the preset first processing program of the first groove processing device. The first groove processing device can be one of the milling device 11 and the thermal cutting device 12, and the second groove processing device can be the other of the milling device 11 and the thermal cutting device 12. The milling device 11 is used to process the machined groove 21 on the edge of the special-shaped workpiece 2, and the thermal cutting device 12 is used to process the thermal cutting groove 22 on the edge of the special-shaped workpiece 2. The preset position of the intersection end of the second groove in the revised preset second processing program is connected to the actual position of the processing end of the first groove, that is, the preset position of the intersection end of the second groove in the revised preset second processing program is the same as the actual position of the processing end of the first groove.

[0055] In this way, the groove processing system of the present application can effectively ensure the processing accuracy and consistency of the groove by adopting a combined processing technology of the milling device 11 and the thermal cutting device 12, which is beneficial to improving the quality of subsequent automated welding and improving processing efficiency.

[0056] It should be noted that the beveling method for special-shaped workpieces of the present application can adopt different processing sequences for special-shaped workpieces of different shapes. For example, since the diameter of the milling cutter disc of the milling device 11 is relatively large, for some special-shaped workpieces, there may be interference between the milling cutter disc and the special-shaped edge of the special-shaped workpiece. At this time, a processing method of first machining the beveling and then machining the thermal cutting beveling can be adopted, that is, the first beveling processing device is the milling device 11, the preset first machining program of the first beveling processing device is the preset milling program, the second beveling processing device is the thermal cutting device 12, the preset second machining program of the second beveling processing device is the preset thermal cutting program, and the milling device 11 is located upstream of the thermal cutting device 12. Alternatively, for some workpieces where there is no processing interference between the processing procedures, the processing method of first machining the beveling and then machining the thermal cutting beveling can be adopted, and the processing method of first machining the thermal cutting beveling and then machining the beveling can also be adopted. When a processing method of first processing the thermal cutting groove and then processing the machined groove is adopted, the first groove processing device is a thermal cutting device 12, and the preset first processing program of the first groove processing device is a preset thermal cutting program. The second groove processing device is a milling device 11, and the preset second processing program of the second groove processing device is a preset milling program. The milling device 11 is located downstream of the thermal cutting device 12.

[0057] Among them, the structures of the milling device 11, the thermal cutting device 12 and the first conveying device 13 can be varied. For example, the milling device 11 can be an automatic walking steel plate milling machine or a CNC steel plate milling machine, etc., which can be supported by a CNC system, such as a single-sided steel plate CNC milling machine or a double-sided steel plate milling machine. The thermal cutting device 12 can be flame cutting, plasma cutting or laser cutting, etc., and the first conveying device 13 can be a conveyor roller, a rail trolley or an AGV trolley, etc. These structural forms also fall within the protection scope of the present application.

[0058] In some specific embodiments, Figure 3 As shown, the milling device 11 can be a multi-milling head milling machine and can process a machined groove 21 on the straight edge of the special-shaped workpiece 2 according to a preset milling program. Multiple milling heads of the multi-milling head milling machine can work simultaneously to complete the processing of the workpiece groove, and the processing efficiency is high.

[0059] Since the special-shaped workpiece 2 is designed with a special-shaped groove and a straight-edge groove, different groove processing devices are usually used to process different grooves. By adding a visual device to scan the processing end of the first groove, the actual position of the processing end of the first groove can be identified and located to determine the actual intersection point position between the two different processing grooves. In addition, by determining the position difference value between the actual position of the processing end of the first groove and the preset position of the processing end of the first groove, and by determining that the position difference value is less than or equal to the preset difference value, the preset second processing program of the second groove processing device is corrected, so that the end point of the preset processing trajectory of the second groove can be connected with the actual position of the processing end of the first groove, so that the processing technology can be optimized by optimizing the connection point position, ensuring that the ends of the first groove and the second groove can be connected to each other, and then the processing quality of the intersection point of the ends of the first groove and the second groove can be guaranteed. In addition, since the visual device can assist in automatically identifying the workpiece, automatically matching the program, and correcting the subsequent groove processing program, the groove processing system can achieve the effect of unmanned operation. The structure of the visual device may be varied, for example, it may be a camera visual detection device or a laser visual detection device.

[0060] In some specific embodiments, the visual device may include a line laser camera and a camera frame, and the line laser camera is installed through the camera frame. The step of obtaining the actual position of the processing end portion of the first groove processed by the first groove processing device of the special-shaped workpiece 2 through the visual device may specifically include:

[0061] Scanning the contour of the special-shaped workpiece using the preset position of the processing end portion of the first groove as the scanning center of the visual device, and acquiring a scanned point cloud image;

[0062] Acquire the actual processing trajectory of the first groove according to the point cloud image;

[0063] The actual processing trajectory of the first groove is compared and fitted with the preset processing trajectory of the first groove to obtain the actual position of the processing end portion of the first groove.

[0064] Specifically, the line laser camera scans the contours of the workpiece edges before and after the scanning center, and a point cloud image of the edge of the special-shaped workpiece 2 can be obtained. The intersection between the uncut portion of the edge of the special-shaped workpiece 2 and the cut portion of the edge of the special-shaped workpiece 2 is in a straight line, so the accurate processing end of the first groove can be found by identifying the edge of the special-shaped workpiece 2. Next, the image obtained by the data returned by the line laser camera is converted to obtain the actual processing trajectory of the first groove, and the actual processing trajectory of the first groove is compared and fitted with the preset processing trajectory of the first groove. The difference between the processing end of the first groove in actual production and in the preset first processing program can be clearly obtained, and then the actual position of the processing end of the first groove can be obtained.

[0065] In some practical scenarios, Figure 5 Taking the typical special-shaped workpiece shown as an example, the non-linear grooves such as "transition arc" and "circular arc" are on the outside of the "straight" groove surface, that is, when the "machined" groove is milled, there is interference in the workpiece itself, which makes it impossible to achieve through-type processing. In addition, in the first machining groove processing, there will be a certain amount of accumulated errors. For example, when the workpiece to be processed is hoisted to the milling device 11 through the loading and unloading device, due to the errors in the grasping accuracy and positioning accuracy of the loading and unloading device, the lifting point of the loading and unloading device may have errors with the expected design, or, during the centering and clamping process of the special-shaped workpiece 2 on the milling device 11, its relative position will be slightly offset, and there will be a certain amount of precision error. The accumulation of these two errors is very likely to cause the milling device 11 to be unable to complete the predetermined processing length during the processing according to the program settings. This will cause the workpiece to be thermally cut. If it is cut according to the original preset thermal cutting program generated by the product drawing, the previous error part may not be completely removed or the workpiece may be overcut and burn. This will result in poor product quality.

[0066] Therefore, in some embodiments, Figure 1 and Figure 2As shown, the thermal cutting device 12 is arranged downstream of the milling device 11, the first groove processing device is a milling device 11 for processing the groove of the straight edge of the special-shaped workpiece 2, the preset first processing program of the first groove processing device is a preset milling program, the first groove is a machined groove 21, the second groove processing device is a thermal cutting device for processing the groove of the special-shaped edge of the special-shaped workpiece 2, the preset second processing program of the second groove processing device is a preset thermal cutting program, the second groove is a thermal cutting groove 22, and the preset second processing program is a preset thermal cutting program. In this way, the processing method of first processing the machined groove and then processing the thermal cutting groove can avoid the possible interference between the milling cutter disc and the special-shaped edge of the special-shaped workpiece. In addition, according to the actual position of the processing end of the machined groove 21, the preset thermal cutting program can be corrected, so that the thermal cutting groove can be processed through with the machined groove without overcutting and burning the workpiece, which can ensure the processing accuracy and groove consistency of the groove of the special-shaped workpiece, thereby improving the quality of subsequent automated welding and improving the processing efficiency.

[0067] Furthermore, the special-shaped workpiece 2 can be loaded into the edge milling device 11 by the loading and unloading device, and the preset difference value is L, which satisfies: .

[0068] Among them, R is the diameter of the milling cutter disc of the milling device 11, and E is the cumulative maximum deviation of the accuracy of the loading and unloading device. The values ​​of R and E can be set according to the actual processing configuration.

[0069] Specifically, Figure 5 and Figure 6 As shown, point A is the starting part of the thermal cutting groove, point B is the intersection point of the special-shaped groove and the straight-edge groove, point C is the preset intersection point of the thermal cutting groove and the machined groove, that is, the preset position of the processing end of the machined groove, point D is the starting part of the machined groove, segment AC is the thermal cutting groove processing range, segment CD is the machined groove processing range, and the preset length of segment BC is set to L, which can be determined by the above formula. In this way, it can be ensured that the milling device 11 will not damage the workpiece body during the milling process.

[0070] When machining the bevel of the special-shaped workpiece 2, the position of point C may shift forward and backward according to the actual situation. The actual position of point C can be accurately determined by scanning with a visual device. If the position of point C changes, the actual length of the BC segment will also change, and the position difference between the actual position of the machining end of the machined bevel and the preset position of the machining end of the thermal cutting bevel will also change. When the position difference is less than or equal to the preset difference value L, it can be ensured that the special-shaped workpiece 2 is not damaged during the machining of the bevel. At this time, the preset thermal cutting program of the thermal cutting device 12 can be automatically corrected according to the actual position of the machining end of the machined bevel, so that programming-free and automatic bevel cutting can be achieved.

[0071] Furthermore, the step of modifying the preset second processing program of the second groove processing device for processing the second groove of the special-shaped workpiece 2 may specifically include:

[0072] By means of coordinate conversion, the coordinates of the preset position of the intersection end of the second groove in the preset second processing program are replaced with the coordinates of the actual position of the processing end portion of the first groove;

[0073] Correct the preset machining trajectory of the second groove in the preset second machining program.

[0074] Specifically, according to the image fitting and analysis results, the coordinates (X1, Y1, Z1) of the preset position of the intersection end of the second groove relative to the three-dimensional coordinate system of the workpiece and the coordinates (X2, Y2, Z2) of the actual position of the processing end of the first groove are obtained. Through coordinate conversion, the coordinate numbers are converted into numerical increases and decreases in the NC program, and the original coordinates of the preset position of the intersection end of the second groove are replaced with the coordinates of the actual position of the processing end of the first groove. Among them, in the actual processing process, usually the change of the actual position of the processing end of the first groove will only cause the change of the X and Y coordinate numbers, and will not affect the preset Z coordinate.

[0075] In some specific embodiments, the groove processing method may further include:

[0076] It is determined that the position difference value is greater than the preset difference value, and the subsequent processing steps of the special-shaped workpiece 2 are stopped and an alarm is issued.

[0077] When it is determined that the position difference value is greater than the preset difference value, it means that there is a serious problem when the special-shaped workpiece 2 is machined into a groove in the first groove processing device, that is, the special-shaped workpiece 2 may be damaged during the machining of the groove. At this time, the processing will be interrupted immediately and an alarm will be issued, so that the processing quality problems can be discovered in time, and the causes can be found in time to reduce subsequent processing losses.

[0078] Optionally, the thermal cutting device 12 may include a thermal cutting workbench 121, a robot external shaft 122, and an articulated arm robot 123. The thermal cutting workbench 121 is used to carry the special-shaped workpiece 2, the robot external shaft 122 is arranged adjacent to the thermal cutting workbench 121, the articulated arm robot 123 is movably arranged on the robot external shaft 122 and can move on the robot external shaft 122, a thermal cutting mechanism is arranged on the end arm section of the articulated arm robot 123, and a visual device is arranged on the articulated arm robot 123. Both the visual device and the thermal cutting mechanism are arranged on the articulated arm robot 123, so that the overall structure is simpler and more reasonable, and the manufacturing cost is low. Of course, in addition to the above-mentioned articulated arm robot 123, the thermal cutting device 12 of the present application may also include a curved arm robot and an intelligent truss manipulator, which should also fall within the scope of protection of the present application.

[0079] Furthermore, the step of obtaining, by means of a visual device, the actual position of the machining end portion of the first groove machined by the first groove machining device of the special-shaped workpiece 2 further specifically includes:

[0080] The visual device is driven to move and scan according to the control of the articulated arm robot 123 and the robot external axis 122 .

[0081] In addition, groove processing methods may also include:

[0082] The second groove processing device is controlled to perform groove processing on the special-shaped workpiece according to the revised preset second processing program.

[0083] In addition, before obtaining the actual position of the machining end portion of the first groove machined by the first groove machining device on the special-shaped workpiece through the visual device, the groove machining method may further include:

[0084] The first groove processing device is controlled to process the first groove on the special-shaped workpiece according to a preset first processing program.

[0085] In this way, the groove processing method can be applied to unmanned automatic production lines without the need for skilled workers, thereby achieving the effect of reducing the labor intensity of employees.

[0086] Furthermore, after the step of controlling the first groove processing device to process the first groove on the special-shaped workpiece 2 according to the preset first processing program, the groove processing method may further include:

[0087] The loading and unloading device and the first conveying device 13 are controlled to transfer the special-shaped workpiece 2 from the first groove processing device to the second groove processing device.

[0088] In this way, compared with the existing manual transfer method, the groove processing method of the present application can realize one-time loading and one-time processing and forming by setting a first conveying device 13 to perform automatic transfer between the milling device 11 and the thermal cutting device 12, so as to achieve the effect of completing the complex groove processing of extra-long parts in one flow. It can be applied to unmanned automatic production lines without the need for skilled workers, which is beneficial to reducing the labor intensity of employees and improving processing efficiency.

[0089] In some specific embodiments, Figure 1 and Figure 2 As shown, the first conveying device 13 has a milling station arranged adjacent to the milling device 11 and a thermal cutting station arranged adjacent to the thermal cutting device 12. The first conveying device 13 is used to transfer the special-shaped workpiece 2 between the milling station and the thermal cutting station. The first conveying device 13 may include a conveying track 131 and a carrying mechanism 132. The carrying mechanism 132 is movably arranged on the conveying track 131 and can move along the conveying track 131. Alternatively, as Figure 4 As shown, the first conveying device 13 may also be a conveying roller structure, and these structural forms should also fall within the scope of protection of this application. A plurality of loading and unloading devices may be provided, and they are used to transfer special-shaped workpieces between the thermal cutting device 12 and the first conveying device 13, and to transfer special-shaped workpieces between the milling device 11 and the first conveying device 13. In this way, by adding an automatic loading and unloading device, automatic loading and unloading of the entire process can be achieved. Among them, the loading and unloading device may use a manually operated lifting device, such as a bridge crane, a gantry crane or other lifting forms, or a fully automatic lifting device, such as a program-controlled crane, an intelligent crane, an intelligent truss manipulator or other automatic lifting forms, all of which should fall within the scope of protection of this application.

[0090] Optionally, after the step of controlling the second groove processing device to perform groove processing on the special-shaped workpiece according to the revised preset second processing program, the groove processing method may further include:

[0091] The first conveying device 13 is controlled to transfer the special-shaped workpiece 2 to the grinding device 14 for grinding.

[0092] Specifically, the grinding device 14 is used to grind the special-shaped workpiece 2. The first conveying device 13 also has a grinding station, and the grinding device 14 is arranged above the grinding station. In this way, it can save the operation of the carrier tooling, and can also realize one-time loading, one-time processing and grinding, so as to achieve the effect of completing the complex groove processing of super-long parts in one flow, and significantly improve the processing efficiency.

[0093] Optionally, after the step of controlling the first conveying device 13 to transfer the special-shaped workpiece 2 to the grinding device 14 for grinding, the groove processing method may further include:

[0094] The special-shaped workpiece 2 is transferred to the second conveying device 15 for code scanning or inspection.

[0095] Specifically, the second conveying device 15 is arranged downstream of the grinding device 14 and is used to convey the special-shaped workpiece 2 on the grinding device 14 toward the downstream. The conveying path of the second conveying device 15 and the first conveying device 13 are located on the same straight line. Among them, the second conveying device 15 can be a conveying roller, so that the workpiece polished by the grinding device 14 is pushed forward to the second conveying device 15. Since the second conveying device 15 is a conveying roller, it can drive the special-shaped workpiece to continue to be directly conveyed from the first conveying device 13 to the second conveying device 15. In this way, the structure of the groove processing system can be made more reasonable, further saving the running carrier tooling, and realizing one-time loading, one-time processing, forming and grinding, so as to achieve the effect of completing the complex groove processing of super-long parts in one flow, and significantly improve the processing efficiency.

[0096] The second conveying device 15 has a code scanning detection station, and the groove processing system further includes a code scanning detection device 16 arranged adjacent to the code scanning detection station and used to scan and / or detect the special-shaped workpiece 2. And / or, the groove processing system further includes a detection device arranged adjacent to the detection station and used to detect the processing quality of the special-shaped workpiece 2.

[0097] Optionally, when controlling the first conveying device 13 to transfer the special-shaped workpiece 2 to the grinding device 14 for grinding, the groove processing method may further include:

[0098] The dust removal device 17 is controlled to start dust removal.

[0099] Specifically, the dust removal device 17 is arranged adjacent to the grinding device 14 and the thermal cutting device 12 respectively and is used to remove dust generated during the grinding process and the thermal cutting process, thereby making the structure of the groove processing system more reasonable.

[0100] It should be noted that in the present application, the structures of the device components such as the milling device 11, the thermal cutting workbench 121, the robot external axis 122, the first conveying device 13, the visual device, the loading and unloading device, the articulated arm robot, the thermal cutting mechanism, the grinding device 14, the second conveying device 15, the code scanning detection device 16 and the dust removal device 17 are well known to those skilled in the art and do not belong to the core improvement part of the present application, so they will not be repeated here.

[0101] The following is a brief description of the operating logic of the groove processing system of the present application: First, the special-shaped workpiece is hoisted to the milling device 11 by the loading and unloading device, and the special-shaped workpiece matches the pre-set program, and the milling device 11 performs the machined groove processing of the long straight edge. After the machined groove processing of the long straight edge is completed, the special-shaped workpiece is hoisted to the first conveying device 13 by the loading and unloading device, and the workpiece is sent to the side of the thermal cutting workbench 121 by the first conveying device 13. The loading and unloading device hoists the special-shaped workpiece from the first conveying device 13 and places it on the thermal cutting workbench 121. The visual device scans the special-shaped workpiece 2 on the thermal cutting workbench 121 and obtains a point cloud image. The control device of the system obtains the actual processing trajectory of the machined groove according to the point cloud image and compares and fits the actual processing trajectory of the machined groove with the preset processing trajectory of the machined groove to obtain the actual position of the processing end of the machined groove. Then, when the control device determines that the position difference between the actual position of the machined groove processing end portion and the preset position of the machined groove processing end portion is less than or equal to the preset difference value, the preset thermal cutting program is corrected, and then the articulated arm robot 123 is used in conjunction with the robot external axis 122 to complete the groove cutting of the special shape and special angle of the special-shaped workpiece according to the corrected preset thermal cutting program. After the cutting is completed, the loading and unloading device is used to lift the special-shaped workpiece from the thermal cutting workbench 121 and place it on the first conveying device 13, and the cutting scraps, burrs, etc. are removed by the grinding device 14, and then it is transported to the second conveying device 15 after completion. Finally, the special-shaped workpiece is scanned and / or inspected at the code scanning and inspection station, and the special-shaped workpiece is lifted off the line using the loading and unloading device.

[0102] The second aspect of the present application also provides a groove processing system for special-shaped workpieces. The groove processing system applies the above-mentioned groove processing method for special-shaped workpieces and has all the technical effects brought by the above-mentioned groove processing method, so it will not be repeated here.

[0103] In some specific embodiments, the groove processing system may also include a control device, which is respectively communicated with the milling device 11, the thermal cutting device 12, the first conveying device 13, the visual device, the loading and unloading device, the grinding device 14, the second conveying device 15, the code scanning detection device 16 and the dust removal device 17 and can control the milling device 11, the thermal cutting device 12, the first conveying device 13, the visual device, the grinding device 14, the second conveying device 15, the code scanning detection device 16 and the dust removal device 17 to perform groove processing on the special-shaped workpiece 2 according to the above-mentioned groove processing method, thereby realizing one-time loading and one-time processing and forming, and achieving the effect of completing complex groove processing of extra-long parts in one flow. It can be applied to unmanned automatic production lines without the need for skilled workers, which is beneficial to reducing the labor intensity of employees and improving processing efficiency.

[0104] In summary, the groove processing method and groove processing system of the present application are suitable for extra-long special-shaped workpieces. The combined processing method of "machining" and "thermal cutting" can realize one-time loading and one-time processing and forming, so as to achieve the effect of completing the complex groove processing of extra-long parts in one flow. Moreover, on the basis of the combined processing method, by adding a visual device to identify and locate the end position of the groove, the program can be automatically matched to achieve the effect of unmanned operation, and the effect of improving the groove accuracy and ensuring the consistency of the groove can be achieved, which indirectly improves the welding quality of subsequent structural parts. In addition, by adding an automatic loading and unloading device, automatic loading and unloading of the whole process can be achieved. The various processing devices in the groove processing system of the present application are arranged in a "one-flow" style, which saves a large number of operating carriers and tooling, optimizes the industry difficulties of multiple lifting and multiple transfers in traditional processing technology, and realizes the processing of the three main processes of machining edge milling, thermal cutting groove, and automatic deslagging and oxide skin in one flow, which can achieve the effect of significantly improving the processing efficiency, and is also an important guarantee for realizing the unmanned and automated operation of the processing production line.

[0105] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0106] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0108] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for processing grooves of special-shaped workpieces, characterized in that: include: Acquiring a preset position of a machining end portion of a first groove of a special-shaped workpiece (2) according to a preset first machining program of a first groove machining device; Acquiring, by means of a visual device, an actual position of a machining end portion of the first groove of the special-shaped workpiece (2) machined by the first groove machining device; Determine a position difference value between an actual position of a machining end portion of the first groove and a preset position of the machining end portion of the first groove; Determining that the position difference value is less than or equal to a preset difference value, and correcting a preset second processing program of a second groove processing device for processing a second groove on the special-shaped workpiece (2), so that a preset position of the intersection end of the second groove in the corrected preset second processing program is connected to an actual position of a processing end portion of the first groove; It is determined that the position difference value is greater than the preset difference value, and the subsequent processing steps of the special-shaped workpiece (2) are stopped.

2. The groove processing method for special-shaped workpieces according to claim 1, characterized in that: The first beveling processing device is a milling device (11) for performing beveling processing on the straight edge of the special-shaped workpiece (2), and the first beveling is a machined beveling (21). The second beveling processing device is a thermal cutting device for performing beveling processing on the special-shaped edge of the special-shaped workpiece (2), and the second beveling is a thermally cut beveling (22).

3. The groove processing method for special-shaped workpieces according to claim 2, characterized in that: The special-shaped workpiece (2) can be loaded onto the edge milling device (11) by a loading and unloading device, and the preset difference value is L, which satisfies: , Wherein, R is the diameter of the milling cutter disc of the edge milling device (11), and E is the cumulative maximum deviation of the accuracy of the loading and unloading device.

4. The groove processing method for special-shaped workpieces according to claim 2, characterized in that: The modification of the preset second processing program of the second groove processing device for processing the second groove of the special-shaped workpiece (2) comprises: By means of coordinate conversion, the coordinates of the preset position of the intersection end of the second groove in the preset second processing program are replaced with the coordinates of the actual position of the processing end portion of the first groove; Correct the preset machining trajectory of the second groove in the preset second machining program.

5. The groove processing method for special-shaped workpieces according to claim 4, characterized in that: The groove processing method also includes: The second groove processing device is controlled to perform groove processing on the special-shaped workpiece (2) according to the revised preset second processing program.

6. The groove processing method for a special-shaped workpiece according to claim 1, characterized in that: The visual device comprises a line laser camera, and the step of obtaining the actual position of the processing end portion of the first groove processed by the first groove processing device on the special-shaped workpiece (2) through the visual device comprises: Scanning the contour of the special-shaped workpiece using the preset position of the machining end portion of the first groove as the scanning center of the visual device, and acquiring a scanned point cloud image; Acquire an actual machining trajectory of the first groove according to the point cloud image; The actual processing trajectory of the first groove is compared and fitted with the preset processing trajectory of the first groove to obtain the actual position of the processing end portion of the first groove.

7. The groove processing method for a special-shaped workpiece according to claim 2, characterized in that: The thermal cutting device (12) comprises: A thermal cutting workbench (121) used for carrying the special-shaped workpiece (2); A robot external axis (122) arranged adjacent to the thermal cutting workbench (121); An articulated arm robot (123), the articulated arm robot (123) being movably arranged on the robot external axis (122) and being capable of moving on the robot external axis (122), a thermal cutting mechanism being arranged on the end arm section of the articulated arm robot (123), and the visual device being arranged on the articulated arm robot (123).

8. The groove processing method for a special-shaped workpiece according to claim 7, characterized in that: The step of obtaining, by means of a visual device, the actual position of the machining end portion of the first groove machined by the first groove machining device on the special-shaped workpiece (2) comprises: The visual device is driven to move and scan by controlling the articulated arm robot (123) and the robot external axis (122).

9. The groove processing method for a special-shaped workpiece according to claim 1, characterized in that: Before obtaining the actual position of the machining end portion of the first groove machined by the first groove machining device on the special-shaped workpiece through the visual device, the groove machining method further includes: The first groove processing device is controlled to process the first groove on the special-shaped workpiece according to a preset first processing program.

10. The groove processing method for a special-shaped workpiece according to claim 9, characterized in that: After controlling the first groove processing device to process the first groove on the special-shaped workpiece (2) according to a preset first processing program, the groove processing method further comprises: The loading and unloading device and the first conveying device are controlled to transfer the special-shaped workpiece (2) from the first groove processing device to the second groove processing device.

11. A groove processing system for special-shaped workpieces, characterized in that: The groove processing system applies the groove processing method for special-shaped workpieces as described in any one of claims 1 to 10.

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