An edging device

Abstract

The application provides a trimming device; when the product is a large component, and in the processing and cutting of the product, the cutting track of the product is captured by using a visual scanning module, then the control system guides the six-axis mechanical arm to move the visual scanning module to continuously search for the coordinate information of the cutting track, at the same time, the control system guides the GV trolley to move according to the real-time feedback of the visual scanning module 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, thereby realizing the cutting of the product; therefore, compared with manual cutting, the manual intervention can be effectively reduced, the efficiency and accuracy of the edge processing of the product are improved, and the safety of the operators in the operation area is ensured; the application belongs to the technical field of automatic equipment.

Description

TECHNICAL FIELD

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

[0002] Large components are the core components of modern industrial equipment, such as blades of wind turbines. In the final stage of large component manufacturing, the edges of components assembled together need to be trimmed. However, because of the shape and volume of some components, there are various limitations, and the trimming process is particularly troublesome. Conventional trimming work mainly relies on workers using an angle grinder to cut, which not only cuts inaccurately and slowly, but also produces dust everywhere, causing the risk of personal injury. SUMMARY

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

[0004] A trimming device comprises a GV trolley, a platform mounted on the GV trolley, a six-axis mechanical arm, a control system and a cutting module arranged on the platform, and a visual scanning module arranged on the six-axis mechanical arm.

[0005] When cutting the product, the product is pre-marked with a cutting trajectory. After the GV trolley moves the cutting module to the edge of the product to be cut, the six-axis mechanical arm marks a point on the cutting trajectory as the starting position of the cutting with the visual scanning module. Thereafter, the visual scanning module scans and captures the coordinate data of the cutting trajectory and sends the coordinate data to the control system. The control system directs the six-axis mechanical arm to move the visual scanning module to continuously search for the coordinate information of the cutting trajectory. At the same time, the control system directs the GV trolley to move to drive the cutting module to move along the cutting trajectory according to the real-time feedback of the coordinate information of the visual scanning module, until the cutting module cuts the product along the cutting trajectory.

[0006] Based on the above technical solution, the present application can achieve the following beneficial effects:

[0007] 1. When the product is a large component, the visual scanning module is used to capture and scan the cutting trajectory of the product during processing and cutting of the product. Then the control system directs the six-axis mechanical arm to move the visual scanning module to continuously search for the coordinate information of the cutting trajectory. At the same time, the control system directs the GV trolley to move to drive the cutting module to move along the cutting trajectory according to the real-time feedback of the coordinate information of the visual scanning module, so that the cutting module can accurately move along the cutting trajectory of the product, thereby achieving cutting of the product.

[0008] 2. It can effectively reduce manual intervention, improve the efficiency and accuracy of product edge processing, and ensure the safety of operators in the work area.

[0009] 3. Since the vision scanning module can be selectively moved away from the GV trolley by the robotic arm, creating a certain distance between the vision scanning module and the cutting module, the vision scanning module pre-searches the coordinates of the cutting trajectory when the GV trolley moves the cutting module. The GV trolley only moves the cutting module after receiving the feedback coordinates, thus effectively avoiding incorrect cuts.

[0010] To further optimize the above technical solutions, they can be combined with one or more of the following implementation methods without conflict.

[0011] In some embodiments, the cutting module includes a Z-axis lifting mechanism, a transverse floating mechanism, a transverse cutting saw blade, and a longitudinal cutting saw blade, wherein the Z-axis lifting mechanism and the transverse floating mechanism, and the transverse cutting saw blade and the longitudinal cutting saw blade are both mounted on the transverse floating mechanism;

[0012] When cutting a product, the Z-axis lifting mechanism drives the horizontal floating mechanism to rise and fall, so that the horizontal cutting saw blade and / or the longitudinal cutting saw blade on the horizontal floating mechanism can extend to cut the product.

[0013] Based on the above technical solution, when the cutting module moves along the cutting trajectory, it drives the transverse cutting saw blade and / or the longitudinal cutting saw blade to extend or extend, thereby adapting to different parts of the product for cutting, improving cutting efficiency and cutting function.

[0014] 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 being located next to the lateral cutting saw blade, and the longitudinal dust collection trough being located next to the longitudinal cutting saw blade.

[0015] When the product is cut by the transverse cutting saw blade and / or the longitudinal cutting saw blade, the transverse dust collection trough and / or the transverse dust collection trough collect dust simultaneously.

[0016] Based on the aforementioned technical solution, when the product is cut by the transverse and longitudinal cutting saw blades, dust can be adsorbed and collected through the transverse and longitudinal dust collection troughs, thereby reducing environmental pollution and ensuring the cleanliness of the work area.

[0017] In some embodiments, the dust collector for connection to the transverse dust collection trough and the longitudinal dust collection trough duct is mounted on the platform;

[0018] Based on the aforementioned technical solution, the number of lines and pipes connecting the GV vehicle to external equipment can be reduced, thereby facilitating the movement of the GV vehicle.

[0019] In some embodiments, the platform is further provided with a fine cutting visual scanning module and a fine cutting adjusting motor, the fine cutting adjusting motor drives the fine cutting module, and the fine cutting module is spaced apart from the cutting module;

[0020] During the cutting of the product by the cutting module, the fine cutting visual scanning module scans and positions the part of the product cut by the cutting module again, and sends the scanning data to the control system. At this time, the control system instructs the fine cutting adjusting motor to drive the fine cutting module to move, so as to repair the part of the product cut by the cutting module.

[0021] Based on the technical scheme, the part of the product cut by the cutting module is repaired by the fine cutting module, so that the processing precision and efficiency are improved, and the device is suitable for more materials and sizes.

[0022] In some embodiments, a winding drum is installed on the platform, and the winding drum is used to collect the cable connected with the GV trolley;

[0023] Based on the technical scheme, during the operation of the GV trolley, the excess cable is collected and arranged by the winding drum, so that the cable on the ground can effectively avoid interfering with the GV trolley and affecting the cutting quality.

[0024] In some embodiments, an explosion-proof electric control box is installed on the platform, and the control system is located in the explosion-proof electric control box;

[0025] Based on the technical scheme, during the cutting of the product, the cutting debris can be effectively prevented from flying into the control system and damaging the control system.

[0026] In some embodiments, a trimming device includes at least a plurality of GV trolleys, each GV trolley is provided with a signal transmission module, and the data of each GV trolley is shared with the remaining GV trolleys, so that all GV trolleys can work cooperatively;

[0027] Based on the technical scheme, the following beneficial effects are further achieved:

[0028] 1. By using a plurality of GV trolleys to work cooperatively, the cutting efficiency can be effectively improved;

[0029] 2. The data of each GV trolley can be compared and corrected with the data of the remaining GV trolleys to improve the cutting accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments in the present application, the following will briefly describe the drawings and labels used in the description of the specific embodiments.

[0031] Fig. 1 is a structural schematic diagram of the present application;

[0032] Fig. 2 is a structural schematic diagram of the cutting module described in the present application;

[0033] Fig. 3 is a position schematic diagram of the visual scanning module and the fine cutting visual scanning module described in the present application.

[0034] Reference signs:

[0035] 1, GV trolley; 11, platform; 2, six-axis mechanical arm; 3, visual scanning module; 4, cutting module; 41, Z-axis lifting mechanism; 42, transverse floating mechanism; 43, transverse cutting saw blade; 44, transverse dust collection groove; 45, longitudinal cutting saw blade; 46, longitudinal dust collection groove; 5, dust collector; 6, fine cutting visual scanning module; 7, wire winding drum; 8, explosion-proof electric control box. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present embodiment is further described in detail with reference to the drawings.

[0037] As shown in Figs. 1 to 3 the present embodiment provides a trimming device, which comprises a GV trolley 1, a platform 11 is installed on the GV trolley 1, a six-axis mechanical 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 mechanical arm 2.

[0038] When cutting the product, the product is pre-marked with a cutting trajectory, after the GV trolley 1 drives the cutting module 4 to move to the edge of the product to be cut, the six-axis mechanical arm 2 drives the visual scanning module 3 to mark a certain point of the cutting trajectory as the starting position of cutting, thereafter, the visual 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 mechanical arm 2 to drive the visual 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 to drive the cutting module 4 to move along the cutting trajectory according to the coordinate information fed back by the visual scanning module 3 in real time, until the cutting module 4 cuts the product along the cutting trajectory. The Z-axis lifting mechanism 41 and the transverse floating mechanism 42 can be air cylinders or lead screw modules, etc.

[0039] When the product is a large component, the cutting trajectory of the product is captured by the visual scanning module 3 during the processing and cutting of the product, and then the control system continuously searches for the coordinate information of the cutting trajectory by moving the visual scanning module 3 driven by the six-axis mechanical arm 2, while the control system moves the cutting module 4 along the cutting trajectory by moving the GV trolley 1 driven by the control system according to the real-time feedback coordinate information of the visual scanning module 3, 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 effectively reduce manual intervention, improve the efficiency and accuracy of product edge processing, and at the same time ensure the safety of the operating personnel in the work area.

[0040] Since the visual scanning module 3 can be selectively driven away from the GV trolley 1 by the mechanical arm, the visual scanning module 3 is at a certain distance from the cutting module 4, so when the GV trolley 1 drives the cutting module 4 to move, the visual scanning module 3 searches for the coordinates of the cutting trajectory in advance, and the GV trolley 1 drives the cutting module 4 to move only after receiving the feedback coordinates, thereby effectively avoiding errors.

[0041] In some embodiments, the cutting module 4 includes a Z-axis lifting mechanism 41, a transverse floating mechanism 42, a transverse cutting saw blade 43, and a longitudinal cutting saw blade 45, and 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 installed on the transverse floating mechanism 42.

[0042] When cutting the product, the Z-axis lifting mechanism 41 drives the transverse floating mechanism 42 to lift, so that the transverse cutting saw blade 43 and / or the longitudinal cutting saw blade 45 on the transverse floating mechanism 42 extend out to cut the product.

[0043] In addition, when the cutting module 4 moves along the cutting trajectory, the transverse cutting saw blade 43 and / or the longitudinal cutting saw blade 45 are driven to extend out or retract in, thereby adapting to cut different parts of the product, improving cutting efficiency and cutting function.

[0044] In some embodiments, the transverse floating mechanism 42 is provided with a transverse dust collection groove 44 and a longitudinal dust collection groove 46, and the transverse dust collection groove 44 is located beside the transverse cutting saw blade 43, and the longitudinal dust collection groove 46 is located beside the longitudinal cutting saw blade 45.

[0045] When the transverse cutting saw blade 43 and / or the longitudinal cutting saw blade 45 cut the product, the transverse dust collection groove 44 and / or the transverse dust collection groove 44 simultaneously collect dust. In addition, when the transverse cutting saw blade 43 and the longitudinal cutting saw blade 45 cut the product, the transverse dust collection groove 44 and the longitudinal dust collection groove 46 can be used to adsorb and collect dust, thereby reducing environmental pollution and ensuring the cleanliness of the work area.

[0046] In some embodiments, a dust collector 5 for connecting with the transverse dust collection groove 44 and the longitudinal dust collection groove 46 is installed on the platform 11. This can reduce the lines and pipelines connected with the external equipment of the GV trolley 1, thereby facilitating the movement of the GV trolley 1.

[0047] In some embodiments, the platform 11 is installed on the GV trolley 1, and the fine cutting visual scanning module 6 and the fine cutting adjusting motor are further arranged on the platform 11. The fine cutting adjusting motor drives the fine cutting module, and the fine cutting module is spaced apart from the cutting module 4.

[0048] During the cutting of the product by the cutting module 4, the fine cutting visual 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 instructs the fine cutting adjusting motor to drive the fine cutting module to move, so as to repair the part of the product cut by the cutting module 4.

[0049] Therefore, the part of the product cut by the cutting module 4 is repaired by the fine cutting module, thereby improving the processing precision and efficiency, and being suitable for more materials and sizes.

[0050] In some embodiments, the winding drum 7 is installed on the platform 11, and the winding drum 7 is used to collect the cables connected with the GV trolley 1. During the operation of the GV trolley 1, the excess cables are collected and arranged by the winding drum 7, thereby effectively avoiding the interference of the cables on the ground with the GV trolley 1 to affect the cutting quality.

[0051] In some embodiments, the explosion-proof electric control box 8 is installed on the platform 11, and the control system is located in the explosion-proof electric control box 8. During the cutting of the product, the cutting debris can be effectively prevented from flying into the control system to damage the control system.

[0052] In some embodiments, an edge cutting device includes at least a plurality of GV trolleys 1, each GV trolley 1 is provided with a signal transmission module, and the data of each GV trolley 1 is shared with the remaining GV trolleys 1, so that all GV trolleys 1 can work cooperatively.

[0053] By using a plurality of GV trolleys 1 to work cooperatively, the cutting efficiency can be effectively improved. In addition, the data of each GV trolley 1 can be compared and corrected with the data of the remaining GV trolleys 1, so as to improve the cutting accuracy.

[0054] In order to further illustrate the keyboard 4 torsional spring 7 assembly line described in the specific embodiment, the following embodiments are listed.

[0055] The embodiment provides an edge cutting device, which includes a plurality of GV trolleys 1.

[0056] The platform 11 is installed on the GV trolley 1, and the six-axis mechanical arm 2, the control system, the cutting module 4, the fine cutting visual scanning module 6, the fine cutting adjusting motor, the dust collector 5, the wire winding drum 7, and the explosion-proof electric control box 8 are arranged on the platform 11.

[0057] The visual scanning module 3 is arranged on the six-axis mechanical arm 2, and is used to scan and capture the cutting track on the product to be cut.

[0058] The cutting module 4 comprises a Z-axis lifting mechanism 41, a transverse floating mechanism 42, a transverse cutting saw blade 43, a longitudinal cutting saw blade 45, a transverse dust collection groove 44, and a longitudinal dust collection groove 46. 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 installed on the transverse floating mechanism 42. The transverse dust collection groove 44 is located beside the transverse cutting saw blade 43, and the longitudinal dust collection groove 46 is located beside the longitudinal cutting saw blade 45. The dust collector 5 is connected to the transverse dust collection groove 44 and the longitudinal dust collection groove 46 through a pipeline.

[0059] The fine cutting adjusting motor drives the fine cutting module, and the fine cutting module is spaced apart from the cutting module 4.

[0060] The wire winding drum 7 is used to collect the cable connected to the GV trolley 1. The control system is located in the explosion-proof electric control box 8. Each GV trolley 1 is provided with a signal transmission module, and the data on each GV trolley 1 is shared with the remaining GV trolleys 1, so that all the GV trolleys 1 can work cooperatively.

[0061] The following is a working description of the trimming device of the present embodiment.

[0062] When cutting the 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 mechanical arm 2 drives the visual scanning module 3 to mark a certain point of the cutting track as the starting position of 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 mechanical arm 2 to drive the visual scanning module 3 to continuously search for the coordinate information of the cutting track according to the coordinate data, and at the same time, the control system commands the GV trolley 1 to move to drive the cutting module 4 to move along the cutting track according to the real-time feedback of the coordinate information of the visual scanning module 3, until the cutting module 4 cuts the product along the cutting track. In addition, during the cutting of the product by the cutting module 4, the fine cutting visual scanning module 6 scans and positions 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 adjusting motor to drive the fine cutting module to move, so as to repair the part of the product cut by the cutting module 4.

[0063] When cutting the product, the Z-axis lifting mechanism 41 drives the horizontal floating mechanism 42 to lift, so that the horizontal cutting saw blade 43 and / or the longitudinal cutting saw blade 45 on the horizontal floating mechanism 42 extend to cut the product. When the horizontal cutting saw blade 43 and / or the longitudinal cutting saw blade 45 cut the product, the horizontal dust collection groove 44 and / or the horizontal dust collection groove 44 synchronously collect dust at the same time.

[0064] Alternatively, the data of each GV trolley 1 is compared and corrected with the data of the remaining GV trolleys 1; at the same time, the data of each GV trolley 1 is shared with the data of the remaining GV trolleys 1, so that all GV trolleys 1 can cooperatively drive the cutting module 4 to move and efficiently cut the product. And use another GV trolley 1 to realize fine cutting.

Claims

1. An edging device, characterized in that It comprises: A GV trolley (1) is provided with a platform (11), a six-axis mechanical arm (2), a control system and a cutting module (4) are arranged on the platform (11), a visual scanning module (3) is arranged on the six-axis mechanical arm (2); When cutting the product, the product is pre-marked with a cutting track, the GV trolley (1) drives the cutting module (4) to move to the edge of the product to be cut, the six-axis mechanical arm (2) drives the visual scanning module (3) to mark a point of the cutting track as the starting position of cutting, then 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 mechanical arm (2) to drive the visual scanning module (3) to continuously search for the coordinate information of the cutting track according to the coordinate data, at the same time, the control system commands the GV trolley (1) to move to drive the cutting module (4) to move along the cutting track according to the real-time feedback of the visual scanning module (3) The coordinate information, until the cutting module (4) cuts the product along the cutting track.

2. An edging 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), 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 installed on the transverse floating mechanism (42); When cutting the product, the Z-axis lifting mechanism (41) drives the transverse floating mechanism (42) to lift, 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. An edging device according to claim 2, wherein: The transverse floating mechanism (42) is provided with a transverse dust collection groove (44) and a longitudinal dust collection groove (46), the transverse dust collection groove (44) is located beside the transverse cutting saw blade (43), and the longitudinal dust collection groove (46) is located beside the longitudinal cutting saw blade (45); when the transverse cutting saw blade (43) and / or the longitudinal cutting saw blade (45) cut the product, the transverse dust collection groove (44) and / or the transverse dust collection groove (44) collect dust at the same time.

4. An edging device according to claim 3, wherein: A dust collecting machine (5) connected with the transverse dust collection groove (44) and the longitudinal dust collection groove (46) is installed on the platform (11).

5. An edging device according to any one of claims 1 to 4, characterized in that: The platform (11) is also provided with a fine cutting visual scanning module (6) and a fine cutting adjusting motor, the fine cutting adjusting motor drives a fine cutting module, and the fine cutting module has a distance from the cutting module (4). During the cutting of the product by the cutting module (4), the fine cutting visual scanning module (6) scans and locates the part of the product cut by the cutting module (4), and sends scanning data to the control system, at which time the control system instructs the fine cutting adjusting 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).

6. An edging device according to claim 1, characterized in that: A winding drum (7) is installed on the platform (11), and the winding drum (7) is used to collect a cable connected with the GV trolley (1).

7. An edging 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 in the explosion-proof electric control box (8).

8. An edging device according to claim 1, characterized in that: The GV trolley (1) comprises a signal transmission module, and data on each GV trolley (1) is shared with the remaining GV trolleys (1), so that all the GV trolleys (1) can work cooperatively.

Images