Edge cutting device

Abstract

The invention provides an edge cutting device. When a product is a large component and is machined and cut, the cutting track of the product is captured and scanned through the visual scanning module, then the six-axis mechanical arm is commanded by the control system to drive the visual scanning module to move so as to continuously find coordinate information of the cutting track, and meanwhile, the visual scanning module is controlled by the control system to move. The control system directs the GV trolley to move according to coordinate information fed back by the visual scanning module in real time so as to drive the cutting module to move along the cutting track, so that the cutting module can accurately move along the cutting track of the product, and the product is cut; therefore, compared with manual cutting, manual intervention can be effectively reduced, the product edge processing efficiency and accuracy are improved, and meanwhile the safety of operators in an operation area is ensured; the invention belongs to the technical field of automatic equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of automation equipment, and particularly relates to a trimming device. Background Art

[0002] Large components, such as the blades of wind turbines, are the core components of modern industrial equipment. In the final stage of manufacturing large components, it is necessary to cut off the edges of the components that are clamped together. However, due to the shape and volume of some components and various restrictions, the trimming process is particularly troublesome. Conventional trimming work mainly relies on workers using angle grinders to cut. This not only results in inaccurate cutting and slow cutting speed, but also generates dust everywhere, posing a risk of personal injury. Summary of the Invention

[0003] The purpose of the present invention is to provide a trimming device to solve the technical defects described in the background art.

[0004] A trimming device includes: a GV cart, on which a platform is installed. On the platform, a six-axis robotic arm, a control system, and a cutting module are provided. A vision scanning module is provided on the six-axis robotic arm; When cutting a product, the product is pre-marked with a cutting trajectory. After the GV cart drives the cutting module to move to the edge of the product to be cut, the six-axis robotic arm drives the vision scanning module to mark a point on the cutting trajectory as the starting position of cutting. Thereafter, the vision scanning module scans and captures the coordinate data of the cutting trajectory and sends the coordinate data to the control system. The control system commands the six-axis robotic arm to drive the vision scanning module to move continuously to find the coordinate information of the cutting trajectory according to the coordinate data. At the same time, the control system commands the GV cart to move according to the coordinate information real-time feedback by the vision scanning module, driving the cutting module to move along the cutting trajectory until the cutting module cuts the product along the cutting trajectory.

[0005] Based on the above technical solutions, the present invention can achieve the following beneficial effects: 1. When the product is a large component, during the processing and cutting of the product, by using the vision scanning module to capture and scan the cutting trajectory of the product, and then the control system commands the six-axis robotic arm to drive the vision scanning module to move continuously to find the coordinate information of the cutting trajectory. At the same time, the control system commands the GV cart to move according to the coordinate information real-time feedback by the vision scanning module, driving the cutting module to move along the cutting trajectory of the product, so that the cutting module can accurately move along the cutting trajectory of the product, thereby realizing the cutting of the product; 2. It can effectively reduce manual intervention, improve the efficiency and accuracy of product edge processing, and ensure the safety of operators in the working area; 3. Since the robotic arm can be selectively used to drive the vision scanning module away from the GV cart, creating a certain distance between the vision scanning module and the cutting module, when the GV cart drives the cutting module to move, the vision scanning module pre-searches for the coordinates of the cutting trajectory. Only after the GV cart receives the feedback coordinates does it drive the cutting module to move, thus effectively avoiding incorrect cutting.

[0006] To further optimize the above technical solution, without conflict, it can be optionally combined with one or more of the following embodiments.

[0007] In some embodiments, the cutting module includes a Z-axis lifting mechanism, a lateral floating mechanism, a lateral cutting saw blade, and a longitudinal cutting saw blade. The Z-axis lifting mechanism is connected to the lateral floating mechanism, and the lateral cutting saw blade and the longitudinal cutting saw blade are both installed on the lateral floating mechanism. When cutting a product, the Z-axis lifting mechanism drives the lateral floating mechanism to lift, causing the lateral cutting saw blade and / or the longitudinal cutting saw blade on the lateral floating mechanism to extend to cut the product.

[0008] Based on the above technical solution, when the cutting module moves along the cutting trajectory, by driving the lateral cutting saw blade and / or the longitudinal cutting saw blade to extend or retract, it can adapt to cutting different parts of the product, improving the cutting efficiency and cutting function.

[0009] In some embodiments, the lateral floating mechanism is equipped with a lateral dust collection trough and a longitudinal dust collection trough. The lateral dust collection trough is located beside the lateral cutting saw blade, and the longitudinal dust collection trough is located beside the longitudinal cutting saw blade. When the lateral cutting saw blade and / or the longitudinal cutting saw blade cuts the product, the lateral dust collection trough and / or the longitudinal dust collection trough simultaneously collect dust. Based on the above technical solution, when the lateral cutting saw blade and the longitudinal cutting saw blade cut the product, the lateral dust collection trough and the longitudinal dust collection trough can adsorb and collect the dust, thus reducing environmental pollution and ensuring the cleanliness of the working area.

[0010] In some embodiments, the dust collector used for pipeline connection with the lateral dust collection trough and the longitudinal dust collection trough is installed on the platform. Based on the above technical solution, it is possible to reduce the lines and pipelines connecting the GV cart to external equipment, thus facilitating the movement of the GV cart.

[0011] In some embodiments, a fine-cut vision scanning module and a fine-cut adjustment motor are also provided on the platform. The fine-cut adjustment motor drives a fine-cutting module, and there is a spacing between the fine-cutting module and the cutting module. During the cutting of the product by the cutting module, the fine cutting vision scanning module performs secondary scanning and positioning on the part of the product cut by the cutting module, and sends the scanning data to the control system. At this time, the control system commands the fine cutting adjustment motor to drive the fine cutting module to move, so that the fine cutting module repairs the part of the product cut by the cutting module.

[0012] Based on the above technical solution, the part of the product cut by the cutting module is repaired by the fine cutting module, so that the processing accuracy and efficiency can be improved, and it is applicable to more materials and sizes.

[0013] In some embodiments, a cable reel is installed on the platform, and the cable reel is used to collect the cable connected to the GV cart. Based on the above technical solution, during the operation of the GV cart, the redundant cables can be collected and sorted by the cable reel, so as to effectively avoid the interference of the cables on the ground to the GV cart and affect the cutting quality.

[0014] In some embodiments, an explosion-proof electric control box is installed on the platform, and the control system is located inside the explosion-proof electric control box. Based on the above technical solution, during the cutting of the product, the cutting debris can be effectively prevented from flying into the control system and damaging the control system.

[0015] In some embodiments, a trimming device includes at least several GV carts, each GV cart is provided with a signal transmission module, and the data on each GV cart is shared with the other GV carts, so that all GV carts can cooperate in operation. Based on the above technical solution, the following beneficial effects are further achieved: 1. By using several GV carts to cooperate in operation, the cutting efficiency can be effectively improved. 2. It can be realized that the data of each GV cart is compared and corrected with the data of the other GV carts to improve the cutting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific embodiments in the present invention, the following will briefly describe the drawings and reference numerals required in the description of the specific embodiments.

[0017] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a schematic structural diagram of the cutting module of the present invention; Figure 3 is a schematic position diagram of the vision scanning module and the fine cutting vision scanning module of the present invention.

[0018] Reference Numerals: 1. GV trolley; 11. Platform; 2. Six-axis robotic arm; 3. Vision scanning module; 4. Cutting module; 41. Z-axis lifting mechanism; 42. Lateral floating mechanism; 43. Lateral cutting saw blade; 44. Lateral dust collection trough; 45. Longitudinal cutting saw blade; 46. Longitudinal dust collection trough; 5. Dust collector; 6. Precision cutting vision scanning module; 7. Reel; 8. Explosion-proof electric control box. Specific implementation manner

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, this specific implementation manner will further elaborate on the present invention with reference to the accompanying drawings.

[0020] As Figures 1 to 3 shown, this specific implementation manner provides a trimming device, which includes a GV trolley 1. A platform 11 is installed on the GV trolley 1. A six-axis robotic arm 2, a control system and a cutting module 4 are arranged on the platform 11. A vision scanning module 3 is arranged on the six-axis robotic arm 2.

[0021] When cutting a product, the cutting trajectory is pre-marked on the product. After the GV trolley 1 drives the cutting module 4 to move to the edge of the product to be cut, the six-axis robotic arm 2 drives the vision scanning module 3 to mark a certain point on the cutting trajectory as the starting position of cutting. Thereafter, the vision scanning module 3 scans and captures the coordinate data of the cutting trajectory and sends the coordinate data to the control system. The control system commands the six-axis robotic arm 2 to drive the vision scanning module 3 to move continuously to find the coordinate information of the cutting trajectory according to the coordinate data. At the same time, the control system commands the GV trolley 1 to move according to the coordinate information real-time fed back by the vision scanning module 3, so as to drive the cutting module 4 to move along the cutting trajectory until the cutting module 4 cuts the product along the cutting trajectory. The Z-axis lifting mechanism 41 and the lateral floating mechanism 42 can be cylinders or lead screw modules, etc.

[0022] When the product is a large component, during the processing and cutting of the product, by using the vision scanning module 3 to capture and scan the cutting trajectory of the product, and then the control system commands the six-axis robotic arm 2 to drive the vision scanning module 3 to move continuously to find the coordinate information of the cutting trajectory. At the same time, the control system commands the GV trolley 1 to move according to the coordinate information real-time fed back by the vision scanning module 3, so as to drive the cutting module 4 to move along the cutting trajectory of the product, so that the cutting module 4 can accurately move along the cutting trajectory of the product, thereby realizing the cutting of the product; in addition, it can also effectively reduce manual intervention, improve the efficiency and accuracy of product edge processing, and ensure the safety of operators in the operation area.

[0023] Since the robotic arm can be selectively used to drive the vision scanning module 3 away from the GV cart 1, creating a certain distance between the vision scanning module 3 and the cutting module 4, when the GV cart 1 drives the cutting module 4 to move, the vision scanning module 3 pre-searches for the coordinates of the cutting trajectory. Only after the GV cart 1 receives the feedback coordinates does it drive the cutting module 4 to move, thus effectively avoiding incorrect cutting.

[0024] In some embodiments, the cutting module 4 includes a Z-axis lifting mechanism 41, a lateral floating mechanism 42, a lateral cutting saw blade 43, and a longitudinal cutting saw blade 45. The Z-axis lifting mechanism 41 is connected to the lateral floating mechanism 42, and the lateral cutting saw blade 43 and the longitudinal cutting saw blade 45 are both installed on the lateral floating mechanism 42.

[0025] When cutting a product, the Z-axis lifting mechanism 41 drives the lateral floating mechanism 42 to lift or lower, causing the lateral cutting saw blade 43 and / or the longitudinal cutting saw blade 45 on the lateral floating mechanism 42 to extend to cut the product.

[0026] In addition, when the cutting module 4 moves along the cutting trajectory, by driving the lateral cutting saw blade 43 and / or the longitudinal cutting saw blade 45 to extend or retract, it can adapt to cutting different parts of the product, improving the cutting efficiency and cutting function.

[0027] In some embodiments, the lateral floating mechanism 42 is equipped with a lateral dust collection trough 44 and a longitudinal dust collection trough 46. The lateral dust collection trough 44 is located beside the lateral cutting saw blade 43, and the longitudinal dust collection trough 46 is located beside the longitudinal cutting saw blade 45.

[0028] When the lateral cutting saw blade 43 and / or the longitudinal cutting saw blade 45 cut the product, the lateral dust collection trough 44 and / or the longitudinal dust collection trough 46 collect dust synchronously. In addition, when the lateral cutting saw blade 43 and the longitudinal cutting saw blade 45 cut the product, the lateral dust collection trough 44 and the longitudinal dust collection trough 46 can adsorb and collect the dust, thereby reducing environmental pollution and ensuring the cleanliness of the working area.

[0029] In some embodiments, the dust collector 5 for connecting to the lateral dust collection trough 44 and the longitudinal dust collection trough 46 through pipes is installed on the platform 11. This can reduce the lines and pipelines connecting the GV cart 1 to external equipment, thus facilitating the movement of the GV cart 1.

[0030] In some embodiments, a platform 11 is installed on the GV cart 1. A fine cutting vision scanning module 6 and a fine cutting adjustment motor are also provided on the platform 11. The fine cutting adjustment motor drives a fine cutting module, and there is a spacing between the fine cutting module and the cutting module 4.

[0031] During the cutting of the product by the cutting module 4, the fine cutting vision scanning module 6 performs secondary scanning and positioning on the part of the product cut by the cutting module 4, and sends the scanning data to the control system. At this time, the control system commands the fine cutting adjustment motor to drive the fine cutting module to move, so that the fine cutting module repairs the part of the product cut by the cutting module 4.

[0032] Therefore, by repairing the part of the product cut by the cutting module 4 with the fine cutting module, the processing accuracy and efficiency can be improved, and it is applicable to more materials and sizes.

[0033] In some embodiments, a cable reel 7 is installed on the platform 11. The cable reel 7 is used to collect the cables connected to the GV cart 1. During the operation of the GV cart 1, the redundant cables can be collected and sorted out by the cable reel 7, so as to effectively avoid the interference of the cables on the ground to the GV cart 1 and affect the cutting quality.

[0034] In some embodiments, an explosion-proof electric control box 8 is installed on the platform 11. The control system is located inside the explosion-proof electric control box 8. During the cutting of the product, it can effectively prevent the cutting debris from flying into the control system and damaging the control system.

[0035] In some embodiments, a trimming device includes at least several GV carts 1. Each GV cart 1 is provided with a signal transmission module, and the data on each GV cart 1 is shared with the other GV carts 1, so that all GV carts 1 can cooperate in operation.

[0036] By using several GV carts 1 to cooperate in operation, the cutting efficiency can be effectively improved; in addition, it can also be realized that the data of each GV cart 1 is compared and corrected with the data of the other GV carts 1 to improve the cutting accuracy.

[0037] In order to further illustrate the keyboard 4 torsion spring 7 assembly production line described in this specific embodiment, the following embodiments are listed.

[0038] This embodiment provides a trimming device, which includes several GV carts 1.

[0039] A platform 11 is installed on the GV cart 1, and a six-axis robotic arm 2, a control system, a cutting module 4, a fine cutting vision scanning module 6, a fine cutting adjustment motor, a dust collector 5, a cable reel 7, and an explosion-proof electric control box 8 are arranged on the platform 11.

[0040] A vision scanning module 3 is arranged on the six-axis robotic arm 2. The vision scanning module 3 is used to scan and capture the cutting trajectory on the product to be cut.

[0041] The cutting module 4 includes a Z-axis lifting mechanism 41, a lateral floating mechanism 42, a lateral cutting saw blade 43, a longitudinal cutting saw blade 45, a lateral dust collection trough 44, and a longitudinal dust collection trough 46. The Z-axis lifting mechanism 41, the lateral floating mechanism 42, the lateral cutting saw blade 43, and the longitudinal cutting saw blade 45 are all installed on the lateral floating mechanism 42. The lateral dust collection trough 44 is located beside the lateral cutting saw blade 43, and the longitudinal dust collection trough 46 is located beside the longitudinal cutting saw blade 45. The dust collector 5 is connected to the lateral dust collection trough 44 and the longitudinal dust collection trough 46 through pipes.

[0042] The fine cutting adjustment motor drives a fine cutting module, and there is a spacing between the fine cutting module and the cutting module 4.

[0043] The cable drum 7 is used to collect the cable connected to the GV cart 1. The control system is located inside the explosion-proof electric control box 8. Each GV cart 1 is provided with a signal transmission module, and the data on each GV cart 1 is shared with the other GV carts 1, so that all GV carts 1 can cooperate in operation.

[0044] The following is the working description of the edge cutting device in this embodiment.

[0045] When cutting a product, the product is pre-marked with a cutting trajectory. After the GV cart 1 drives the cutting module 4 to move to the edge of the product to be cut, the six-axis robotic arm 2 drives the vision scanning module 3 to mark a point on the cutting trajectory as the starting position of cutting. After that, the vision scanning module 3 scans and captures the coordinate data of the cutting trajectory and sends the coordinate data to the control system. The control system commands the six-axis robotic arm 2 to drive the vision scanning module 3 to move continuously to find the coordinate information of the cutting trajectory according to the coordinate data. At the same time, the control system commands the GV cart 1 to move according to the coordinate information real-time fed back by the vision scanning module 3, driving the cutting module 4 to move along the cutting trajectory until the cutting module 4 cuts the product along the cutting trajectory. In addition, during the cutting of the product by the cutting module 4, the fine cutting vision scanning module 6 scans and locates the part of the product cut by the cutting module 4 and sends the scanning data to the control system. At this time, the control system commands the fine cutting adjustment motor to drive the fine cutting module to move, so that the fine cutting module repairs the part of the product cut by the cutting module 4.

[0046] When cutting the product, the Z-axis lifting mechanism 41 drives the lateral floating mechanism 42 to lift, so that the lateral cutting saw blade 43 and / or the longitudinal cutting saw blade 45 on the lateral floating mechanism 42 extends to cut the product. When the lateral cutting saw blade 43 and / or the longitudinal cutting saw blade 45 cuts the product, the lateral dust collection trough 44 and / or the lateral dust collection trough 44 synchronously collects dust at the same time.

[0047] Optionally, the data of each GV cart 1 is compared and corrected with the data of the remaining GV carts 1; at the same time, the data of each GV cart 1 is shared with the data of the remaining GV carts 1, so that all GV carts 1 can drive the cutting module 4 to move cooperatively to efficiently cut the product. And a cutting module 4 on another GV cart 1 is used to achieve fine cutting.

Claims

1. A trimming device, characterized in that: include: A GV trolley (1), wherein a platform (11) is installed on the GV trolley (1), a six-axis robot arm (2), a control system and a cutting module (4) are arranged on the platform (11), and a visual scanning module (3) is arranged on the six-axis robot arm (2); When cutting a product, the product is pre-marked with a cutting track. After the GV trolley (1) drives the cutting module (4) to move to the edge of the product to be cut, the six-axis robot (2) drives the visual scanning module (3) to mark a certain point on the cutting track as the starting position of the cutting. Thereafter, the visual scanning module (3) scans and captures the coordinate data of the cutting track and sends the coordinate data to the control system. The control system commands the six-axis robot (2) to drive the visual scanning module (3) to move according to the coordinate data and continuously searches for the coordinate information of the cutting track. At the same time, the control system commands the GV trolley (1) to move according to the coordinate information fed back in real time by the visual scanning module (3) and drives the cutting module (4) to move along the cutting track until the cutting module (4) cuts the product along the cutting track.

2. A trimming device according to claim 1, characterized in that: The cutting module (4) comprises a Z-axis lifting mechanism (41), a transverse floating mechanism (42), a transverse cutting saw blade (43) and a longitudinal cutting saw blade (45), wherein the Z-axis lifting mechanism (41) and the transverse floating mechanism (42), the transverse cutting saw blade (43) and the longitudinal cutting saw blade (45) are all mounted on the transverse floating mechanism (42); When the product is cut, the Z-axis lifting mechanism (41) drives the transverse floating mechanism (42) to rise and fall, so that the transverse cutting saw blade (43) and / or the longitudinal cutting saw blade (45) on the transverse floating mechanism (42) extend to cut the product.

3. A trimming device according to claim 2, characterized in that: The transverse floating mechanism (42) is equipped with a transverse dust collection groove (44) and a longitudinal dust collection groove (46), wherein the transverse dust collection groove (44) is located next to the transverse cutting saw blade (43), and the longitudinal dust collection groove (46) is located next to the longitudinal cutting saw blade (45); when the transverse cutting saw blade (43) and / or the longitudinal cutting saw blade (45) cuts the product, the transverse dust collection groove (44) and / or the transverse dust collection groove (44) collect dust synchronously.

4. A trimming device according to claim 3, characterized in that: A dust collector (5) for connecting to the ducts of the transverse dust collection trough (44) and the longitudinal dust collection trough (46) is installed on the platform (11).

5. A trimming device according to any one of claims 1 to 4, characterized in that: The platform (11) is also provided with a precision cutting visual scanning module (6) and a precision cutting adjustment motor, wherein the precision cutting adjustment motor drives a precision cutting module, and a distance exists between the precision cutting module and the cutting module (4); While the cutting module (4) is cutting the product, the precision cutting visual scanning module (6) scans and locates the portion of the product cut by the cutting module (4) and sends the scanning data to the control system. At this time, the control system instructs the precision cutting adjustment motor to drive the precision cutting module to move, so that the precision cutting module can repair the portion of the product cut by the cutting module (4).

6. A trimming device according to claim 1, characterized in that: A cable reel (7) is installed on the platform (11), and the cable reel (7) is used to collect cables connected to the GV trolley (1).

7. The trimming device according to claim 1, characterized in that: An explosion-proof electric control box (8) is installed on the platform (11), and the control system is located inside the explosion-proof electric control box (8).

8. The trimming device according to claim 1, characterized in that: It comprises a plurality of GV trolleys (1), each of which is provided with a signal transmission module, and the data on each of the GV trolleys (1) is shared with the other GV trolleys (1), so that all the GV trolleys (1) can work in a collaborative manner.

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