An adaptive floating chamfering device

Abstract

The application provides a self-adaptive floating chamfering device and relates to the chamfering technical field of welding cutting. The self-adaptive floating chamfering device comprises an actuator, a joint bearing, a sleeve, a cutter bar, an axial limiting pressure plate, a plurality of upper blades, a plurality of lower blades, a radial limiting leaning wheel, an electric spindle, a plurality of axial elastic reset mechanisms, an axial trigger and a controller. The plurality of axial elastic reset mechanisms are connected with the joint bearing and the sleeve, and are arranged around the axial direction of the sleeve. The cutter bar is vertically arranged and detachably connected to the bottom end of the electric spindle. The axial trigger is arranged at the sleeve, and the axial trigger is matched with the swing body of the joint bearing. The self-adaptive floating chamfering device can completely replace the constant force polishing head. More importantly, the precision devices used are very few, mainly the axial trigger, and the manufacturing cost is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of chamfering technology for welding and cutting, and more specifically, to an adaptive floating chamfering device. Background Technology

[0002] In the welding and cutting process, to improve the cutting quality of the workpiece, it is necessary to chamfer the edges of the cut workpiece to meet the requirements of subsequent processing. Although manual chamfering is commonly used in existing technologies, it is inefficient. To address this, a hydraulic constant-force grinding head was designed to achieve floating chamfering of the workpiece edges. While the hydraulic constant-force grinding head can achieve adaptive floating chamfering, its complex structure and numerous precision detection components result in high manufacturing costs, hindering its widespread application. Furthermore, the hydraulic constant-force grinding head has relatively poor flexibility and compliance, especially when chamfering irregularly shaped steel plates, where the large surface impact upon contact causes poor chamfering results in localized areas of the steel plate surface. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides an adaptive floating chamfering device, comprising: an actuator, a spherical bearing, a sleeve, a tool holder, an axial limiting pressure plate, multiple upper blades, multiple lower blades, a radial limiting guide wheel, an electric spindle, multiple axial spring-force reset mechanisms, an axial trigger, and a controller.

[0004] The spherical bearing is connected to the actuator. The sleeve is sleeved outside the electric spindle. The sleeve is inserted into the spherical bearing and is erected. The sleeve is used to move up and down within the spherical bearing.

[0005] Multiple axial elastic reset mechanisms connect the spherical bearing to the sleeve, and the multiple axial elastic reset mechanisms are evenly distributed around the sleeve along its axial direction.

[0006] The tool holder is vertically mounted and detachably connected to the bottom end of the electric spindle. The axial limiting pressure plate is coaxially connected to the tool holder and rotatably connected to the tool holder. The axial limiting pressure plate is used to press against the top surface of the steel plate. Multiple upper blades are evenly distributed around the axial direction of the tool holder on the side wall of the tool holder below the axial limiting pressure plate. The radial limiting wheel is coaxially connected to the tool holder below the multiple upper blades and is used to rest against the side of the steel plate. Multiple lower blades are evenly distributed around the axial direction of the tool holder on the side wall of the tool holder below the radial limiting wheel.

[0007] The axial trigger is located at the sleeve and cooperates with the swing body of the spherical bearing to trigger the axial trigger to send a first axial trigger signal to the controller when the sleeve moves up or down a first predetermined distance relative to the spherical bearing, and to trigger the axial trigger again to send a second axial trigger signal to the controller when the sleeve moves up or down a second predetermined distance relative to the spherical bearing. The first predetermined distance is less than the second predetermined distance. The controller is connected to the actuator controller.

[0008] Optionally, the axial trigger includes an axial seat, an axial moving member, a first trigger, a first working inductive switch, and an axial limit switch.

[0009] The axial seat is connected to the sleeve, the axial moving member is inserted into the axial seat, the axial moving member maintains contact with the swing body of the spherical bearing, the axial moving member is used to move up and down relative to the axial seat, and the first trigger member is connected to the axial moving member.

[0010] The first working induction switch and the axial limit switch are connected to the axial seat from bottom to top. The first trigger triggers the first working induction switch to send the first axial trigger signal to the controller. The first trigger triggers the axial limit switch to send the second axial trigger signal to the controller.

[0011] Optionally, each of the axial spring-loaded reset mechanisms includes an upper spring, a lower spring, an axial guide rod, and a limiting block.

[0012] A baffle is provided at the top of the sleeve, the electric spindle is inserted into the baffle, and a plurality of axial guide rods are vertically inserted into the baffle. The plurality of axial guide rods are evenly distributed along the circumference of the sleeve, and the axial guide rods are used to slide up and down relative to the baffle.

[0013] The limiting block is disposed at the top end of the axial guide rod, and the upper spring is sleeved on the axial guide rod between the baffle and the limiting block.

[0014] The bearing housing of the spherical plain bearing has multiple guide rod mounting holes on its top surface. The axial guide rods are placed in the corresponding guide rod mounting holes, and the bottom end of each axial guide rod is connected to the bottom end inside the guide rod mounting hole.

[0015] The lower spring is sleeved on the outside of the axial guide rod below the baffle, and the lower spring is placed in the mounting hole of the guide rod.

[0016] Optionally, a fixed baffle is provided at the top of the electric spindle, the fixed baffle is connected to the baffle by multiple bolts, and the swing body is located below the bolts.

[0017] The axial seat is disposed on the top surface of the baffle, the axial moving member is a vertically arranged rod-shaped structure, and a support arm is disposed on the top surface of the baffle. The support arm is an inverted L-shape, and the vertical arm of the support arm is connected to the top surface of the baffle.

[0018] The axial moving member is inserted into a first through hole formed by the bolt. The bottom end of the axial moving member contacts the swing body. A limit stop ring is provided at the top of the axial moving member. The axial moving member is inserted into the cross arm of the support arm. A push spring is sleeved on the axial moving member and is positioned between the cross arm and the limit stop ring.

[0019] The first trigger is a horizontally arranged cuboid structure. The first trigger is connected to the top of the axial moving part and is positioned above the cross arm. The axial seat is a vertically arranged plate-shaped structure. The axial seat has two vertically arranged elongated adjustment holes. The first working induction switch and the axial limit switch are respectively arranged in one of the elongated adjustment holes. The first working induction switch and the axial limit switch are fixed at any specified height in the corresponding elongated adjustment holes by tightening the lock nut.

[0020] Optionally, the adaptive floating chamfering device further includes a connecting plate and a radial elastic reset mechanism. The connecting plate is vertically arranged, the spherical bearing is connected to one side of the connecting plate, and the actuator is connected to the other side of the connecting plate.

[0021] The radial elastic reset mechanism is connected to one side of the connecting plate. The radial elastic reset mechanism is located below the joint bearing. The electric spindle is inserted into the radial elastic reset mechanism. The radial elastic reset mechanism is used to keep the electric spindle in a vertical state and to reset the electric spindle to the set position after the electric spindle swings in any direction.

[0022] The adaptive floating chamfering device also includes a radial trigger.

[0023] The radial trigger is positioned above the electric spindle and connected to the connecting plate.

[0024] The radial trigger is used to be triggered when the electric spindle swings a set distance in any direction and sends a radial trigger signal to the controller.

[0025] Optionally, the radial trigger includes: a boom, a transverse linear guide mechanism, a longitudinal linear guide mechanism, a second trigger element, a connecting pin, a second working induction switch, and a radial limit switch.

[0026] The boom is connected to the top of the connecting plate and is positioned above the electric spindle. The transverse linear guide mechanism, the longitudinal linear guide mechanism, and the connecting pin are sequentially arranged between the boom and the electric spindle from top to bottom. The guide rail of the transverse linear guide mechanism is connected to the boom, and the slider of the transverse linear guide mechanism is connected to the guide rail of the longitudinal linear guide mechanism. The slider of the longitudinal linear guide mechanism is connected to the connecting pin via a ball hinge, and the connecting pin is connected to the top of the electric spindle.

[0027] The second trigger is a horizontally positioned rectangular plate. One end of the second trigger is connected to the slider of the longitudinal linear guide mechanism. The second working induction switch and the radial limit switch are arranged adjacent to each other radially. The second working induction switch is positioned close to the electric spindle. The other end of the second trigger has a working trigger hole and a limit trigger hole. Both the second working induction switch and the radial limit switch are limit switches. Both the working trigger hole and the limit trigger hole are through holes. The diameter of the working trigger hole is smaller than the diameter of the limit trigger hole, and the diameter of the working trigger hole is larger than the head diameter of the second working induction switch. The second working induction switch is aligned with the working trigger hole, and the radial limit switch is aligned with the limit trigger hole.

[0028] When the second working induction switch triggers the side wall of the working trigger hole, it sends a first radial trigger signal to the controller; when the radial limit switch triggers the side wall of the limit trigger hole, it sends a second radial trigger signal to the controller.

[0029] Optionally, the radial elastic reset mechanism includes: a circular base, multiple radial sleeves, multiple push rods, multiple threaded sleeves, and multiple radial springs.

[0030] The circular base is connected to the connecting plate, the bottom of the electric spindle is inserted into the circular base, and multiple radial sleeves are detachably connected to the circular base. A limiting stop is provided near the front end of the push rod, and each push rod is inserted into a radial sleeve. The front end of the push rod extends out of the front end of the radial sleeve and contacts the electric spindle. The rear end of each push rod is inserted into a threaded sleeve and threadedly connected. The threaded sleeve is threadedly connected to the rear end of the radial sleeve. Each radial spring is sleeved outside a push rod and is placed between the limiting stop and the threaded sleeve.

[0031] Optionally, the adaptive floating chamfering device further includes multiple bearings, an external threaded sleeve, a locking nut, a lifting nut, and a lower cutter body.

[0032] Multiple bearings are sequentially sleeved around the tool holder from top to bottom. An external threaded sleeve is fitted over the bearings. Multiple upper blades are mounted on the tool holder below the external threaded sleeve, and are evenly distributed along the circumference of the tool holder. A locking nut and a lifting nut are sequentially threaded onto the external threaded sleeve from top to bottom. An axial limiting pressure plate is detachably connected below the lifting nut. The axial limiting pressure plate is a hollow annular structure. Multiple upper blades are placed inside the axial limiting pressure plate, with the bottom edge of each upper blade extending beyond the bottom surface of the axial limiting pressure plate. The locking nut contacts the lifting nut.

[0033] The radial limiting wheel is sleeved outside the tool holder and positioned below the plurality of upper blades. The plurality of lower blades are detachably connected to the lower blade body, which is detachably connected to the bottom of the tool holder. The plurality of lower blades are positioned below the radial limiting wheel and are evenly distributed along the circumference of the tool holder.

[0034] The bottom surface of the axial limiting pressure plate is a downwardly convex conical surface.

[0035] Optionally, the adaptive floating chamfering device further includes a flipper, an integrated base, a vision recognition device, and a sorter. The flipper is located at the end of the actuator. The integrated base is connected to the flipper. The spherical bearing is connected to the integrated base. The vision recognition device and the sorter are respectively connected to the integrated base. The blade bar, the vision recognition device, and the sorter extend in different directions. The flipper drives the integrated base to flip, causing the blade bar, the vision recognition device, and the sorter to flip to a vertically downward working state. The vision recognition device, the sorter, and the flipper are respectively connected to the controller.

[0036] Optionally, the visual recognition device includes a coarse-line scanning laser, a fine-line scanning laser, a CCD camera, and a 3D camera.

[0037] The integrated base is mainly composed of multiple plate-shaped parts. The spherical bearing is located on the front side of the integrated base. The electric spindle is vertically arranged. The sorter is located on the rear side of the integrated base. The extension direction of the sorter intersects the extension direction of the electric spindle at an acute angle. The actuator is a six-degree-of-freedom articulated arm. The flipper is the end of the actuator. The coarse line scanning laser, the fine line scanning laser, the CCD camera, and the 3D camera are all located on the same side of the integrated base. The coarse line scanning laser, the fine line scanning laser, the 3D camera, and the CCD camera are arranged adjacent to each other from front to back. The shooting direction of the 3D camera and the CCD camera both extend horizontally to the left. The coarse line scanning laser illuminates at a first predetermined distance to the left of the CCD camera. The fine line scanning laser illuminates at a second predetermined distance to the left of the CCD camera. The first predetermined distance is greater than the second predetermined distance.

[0038] The technical effects of this invention include at least the following:

[0039] When the tool holder moves to the edge of the lowered steel plate, the axial limit pressure plate moves downward under the elastic force of the axial spring reset mechanism, thereby moving the position of the sleeve relative to the spherical bearing downward, stopping the triggering of the axial trigger, and causing the axial trigger to stop sending the first axial trigger signal to the controller. The controller is set to continue moving the tool holder downward if the first axial trigger signal is not received, and then keep the tool holder at the current height after receiving the first axial trigger signal again.

[0040] As the tool holder moves to the edge of the raised steel plate, the axial spring-loaded reset mechanism is further compressed, causing the axial limiting pressure plate to move upward. This moves the sleeve relative to the spherical bearing upward, stopping the axial trigger from sending the first axial trigger signal to the controller. When the sleeve rises to a second set distance relative to the spherical bearing, the axial trigger is triggered again to send a second axial trigger signal to the controller. The controller then raises the spherical bearing, reducing the height difference between the electric spindle and the spherical bearing. Upon returning to the first set distance, the tool holder is held at its current height, allowing the chamfering operation around the steel plate to continue.

[0041] Because the steel plate may be tilted (one edge higher than the other), the forming tool, composed of an axial limiting pressure plate, a radial limiting pressure plate, multiple upper blades, and multiple lower blades, ensures that even with a tilted steel plate, the tool holder remains tilted as long as the axial limiting pressure plate remains in contact with the top surface of the steel plate edge. Utilizing the sleeve's ability to swing in any direction within the spherical bearing, the actuator can adapt to the tool holder's tilt. Furthermore, the multiple axial spring-force reset mechanisms, evenly distributed around the sleeve's axis, with varying compression heights, provide corresponding buffering for different tilt angles of the electric spindle. After the tool holder separates from the steel plate, these mechanisms return it to its initial vertical position.

[0042] In this way, through the joint bearings, sleeves, and multiple axial elastic reset mechanisms, the electric spindle and tool holder can achieve adaptive floating, swinging and rising / falling in any direction. Furthermore, multiple upper blades, multiple lower blades, axial limiting pressure plates, radial limiting pressure plates, and the tool holder constitute the forming tool. During the chamfering operation, it is only necessary to ensure that the axial limiting pressure plate is in contact with the top surface of the steel plate and the radial limiting roller is in contact with the side edge of the steel plate. This achieves the positioning of the upper blades on the upper edge of the steel plate and the lower blades on the lower edge of the steel plate, enabling rapid positioning. In addition, the upper and lower blades simultaneously perform chamfering operations on the steel plate. The chamfering operation is completed by the actuator driving the tool holder to move around the steel plate once, significantly improving the efficiency of the chamfering operation.

[0043] More importantly, when the sleeve moves up or down a first set distance relative to the spherical bearing, the axial trigger sends a first axial trigger signal to the controller. When the sleeve moves up or down a second set distance relative to the spherical bearing, the axial trigger sends a second axial trigger signal to the controller. In conjunction with the aforementioned spherical bearing, sleeve, and multiple axial spring reset mechanisms, the system can automatically detect unevenness at the edge of the steel plate and make corresponding adaptive adjustments. The control method is simple and the cost is low.

[0044] Thus, the adaptive floating chamfering device in this embodiment achieves adaptive floating chamfering operation with high efficiency, completely replacing the constant force grinding head. Furthermore, the adaptive floating mechanism, formed by the cooperation of the spherical bearing, sleeve, and multiple axial elastic forces, offers even greater flexibility. More importantly, it uses very few precision components, primarily axial triggers, significantly reducing manufacturing costs. Attached Figure Description

[0045] Figure 1 A schematic perspective view of the adaptive floating chamfering device according to a specific embodiment of the present invention;

[0046] Figure 2 This is a schematic top view of the adaptive floating chamfering device according to a specific embodiment of the present invention;

[0047] Figure 3 for Figure 2 A schematic cross-sectional view along the DD direction;

[0048] Figure 4 for Figure 3 A schematic enlarged view of point P;

[0049] Figure 5 for Figure 3 A schematic enlarged view of point Q;

[0050] Figure 6 for Figure 2 A schematic cross-sectional view of the EE direction;

[0051] Figure 7 for Figure 6 A schematic enlarged view of point R;

[0052] Figure 8 for Figure 6 A schematic enlarged view of point S;

[0053] Figure 9 This is another schematic perspective view of the adaptive floating chamfering device according to a specific embodiment of the present invention. Detailed Implementation

[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The embodiments of the present invention can be implemented in many ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0055] In addition, in the attached figures, the Z-axis represents the vertical direction, that is, the up-down direction, and the positive direction of the Z-axis (that is, the direction the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down. It should also be noted that the aforementioned representation of the Z-axis is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0056] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this invention and in its specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0057] See Figures 1 to 9 This embodiment provides an adaptive floating chamfering device, including: an actuator, a joint bearing 1, a sleeve 12, a tool holder 21, an axial limiting pressure plate 22, multiple upper blades 23, multiple lower blades 24, a radial limiting guide wheel 25, an electric spindle 3, multiple axial spring-force reset mechanisms 4, an axial trigger 6, and a controller.

[0058] The spherical bearing 1 is connected to the actuator. The sleeve 12 is sleeved on the outside of the electric spindle 3. The sleeve 12 is inserted into the spherical bearing 1 and is set vertically. The sleeve 12 is used to move up and down within the spherical bearing 1.

[0059] Multiple axial elastic reset mechanisms 4 connect the spherical bearing 1 to the sleeve 12, and the multiple axial elastic reset mechanisms 4 are evenly distributed around the sleeve 12 along its axis.

[0060] The tool holder 21 is vertically mounted and detachably connected to the bottom of the electric spindle 3. The axial limiting pressure plate 22 is coaxially connected to the tool holder 21 and rotatably connected to the tool holder 21. The axial limiting pressure plate 22 is used to press on the top surface of the steel plate. Multiple upper blades 23 are evenly distributed around the axial direction of the tool holder 21 on the side wall of the tool holder 21 below the axial limiting pressure plate 22. The radial limiting wheel 25 is coaxially connected to the tool holder 21 below the multiple upper blades 23 and is used to rest against the side of the steel plate. Multiple lower blades 24 are evenly distributed around the axial direction of the tool holder 21 on the side wall of the tool holder 21 below the radial limiting wheel 25.

[0061] The axial trigger 6 is located at the sleeve 12. The axial trigger 6 cooperates with the swing body 11 of the spherical bearing 1 to trigger the axial trigger 6 to send a first axial trigger signal to the controller when the sleeve 12 moves up or down relative to the spherical bearing 1 by a first set distance. When the sleeve 12 moves up or down relative to the spherical bearing 1 by a second set distance, the axial trigger 6 is triggered again to send a second axial trigger signal to the controller. The first set distance is less than the second set distance. The controller is connected to the actuator.

[0062] It should be noted that the actuator here can be a robotic arm or a mobile gantry. Anything that can drive the electric spindle 3 to move in any direction is acceptable.

[0063] During the chamfering operation, the shape and size of the steel plate can be input into the controller first, or obtained through on-site identification using a visual recognition device, thus obtaining the theoretical position and size of the steel plate. Then, the controller plans the chamfering route, causing the actuator to drive the electric spindle 3 close to the steel plate. The electric spindle 3 drives multiple upper blades 23 and multiple lower blades 24 at the tool holder 21 to rotate simultaneously, so that one edge of the axial limiting wheel is above the steel plate. Then, the actuator controls the axial limiting wheel to move vertically downward. After contacting the steel plate, the axial limiting wheel continues to move downward, driving the sleeve 12 to move upward relative to the joint bearing 1 by a first set distance, for example, 5mm. During this process, the axial limiting pressure plate 22 is rotatably connected to the tool holder 21 to prevent excessive friction after the axial limiting pressure plate 22 contacts the steel plate, which would prevent the tool holder 21 from rotating. Simultaneously, multiple axial spring-loaded reset mechanisms 4 are compressed by spring force, acting as a buffer; the axial trigger 6 is triggered and sends a first axial trigger signal to the controller, thereby causing the controller to control the actuator to stop lifting and lowering, and through the actuator, the cutter bar 21 is brought horizontally closer to the steel plate until the radial limit wheel 25 contacts the side of the steel plate. At this time, the upper blade 23 is chamfered to the upper edge of the steel plate, and the lower blade 24 is chamfered to the lower edge of the steel plate. Then the controller controls the actuator to make the cutter bar 21 travel one circle along the edge of the steel plate, realizing the chamfering operation on the upper and lower edges of the steel plate.

[0064] During this process, due to the large area of ​​the steel plate, some areas may collapse downwards or bulge upwards, resulting in unevenness at the corresponding edges of the steel plate.

[0065] When the tool holder 21 moves to the edge of the lowered steel plate, the axial limit pressure plate 22 moves downward under the elastic force of the axial spring reset mechanism 4, thereby causing the sleeve 12 to move downward relative to the joint bearing 1, stopping the triggering of the axial trigger 6, and causing the axial trigger 6 to stop sending the first axial trigger signal to the controller. The controller is set to continue moving the tool holder 21 downward if the first axial trigger signal is not received, and to keep the tool holder 21 at the current height until the first axial trigger signal is received again.

[0066] As the tool holder 21 moves to the edge of the raised steel plate, the axial spring-loaded reset mechanism 4 is further compressed, causing the axial limiting pressure plate 22 to move upward. This moves the sleeve 12 relative to the spherical bearing 1 upward, stopping the axial trigger 6 from sending the first axial trigger signal to the controller. When the sleeve 12 rises to a second set distance relative to the spherical bearing 1, the axial trigger 6 is triggered again to send a second axial trigger signal to the controller. The controller then raises the spherical bearing 1, reducing the height difference between the electric spindle 3 and the spherical bearing 1. Upon returning to the first set distance, the tool holder 21 is held at its current height, allowing the chamfering operation around the steel plate to continue.

[0067] Since the steel plate may be tilted, with one edge higher than the other, and the axial limiting pressure plate 22, radial limiting pressure plate, multiple upper blades 23, and multiple lower blades 24 together constitute the forming tool, even if the steel plate is tilted, as long as the axial limiting pressure plate 22 remains in contact with the top surface of the steel plate edge, the tool holder 21 will remain tilted. Utilizing the characteristic that the sleeve 12 can swing in any direction within the joint bearing 1, the actuator can adapt to the tilted state of the tool holder 21. Furthermore, utilizing the characteristic that multiple axial spring-force reset mechanisms 4 are evenly distributed around the sleeve 12 along its axis, and using the different compression heights of the multiple axial spring-force reset mechanisms 4, a corresponding buffering effect is provided for different tilt angles of the electric spindle 3. After the tool holder 21 separates from the steel plate, the multiple axial spring-force reset mechanisms 4, evenly distributed around the sleeve 12 along its axis, return the tool holder 21 to its initial vertical state.

[0068] In this way, through the spherical bearing 1, sleeve 12, and multiple axial elastic reset mechanisms 4, the electric spindle 3 and the tool holder 21 can achieve adaptive floating, swinging and lifting in any direction. Furthermore, multiple upper blades 23, multiple lower blades 24, axial limiting pressure plate 22, radial limiting pressure plate, and tool holder 21 constitute a forming tool. During the chamfering operation, it is only necessary to ensure that the axial limiting pressure plate 22 is in contact with the top surface of the steel plate and the radial limiting guide wheel 25 is in contact with the side edge of the steel plate. This achieves the positioning of the upper blades 23 on the upper edge of the steel plate and the lower blades 24 on the lower edge of the steel plate, enabling rapid positioning. In addition, the upper blades 23 and lower blades 24 simultaneously perform chamfering operations on the steel plate. The chamfering operation is completed by the actuator driving the tool holder 21 to move around the steel plate once, significantly improving the efficiency of the chamfering operation.

[0069] More importantly, when the sleeve 12 moves up or down relative to the spherical bearing 1 by a first set distance, the axial trigger 6 sends a first axial trigger signal to the controller. When the sleeve 12 moves up or down relative to the spherical bearing 1 by a second set distance, the axial trigger 6 sends a second axial trigger signal to the controller. In conjunction with the aforementioned spherical bearing 1, sleeve 12 and multiple axial spring reset mechanisms 4, the automatic detection and corresponding adaptive adjustment of unevenness at the edge of the steel plate can be achieved. The control method is simple and the cost is low.

[0070] Thus, the adaptive floating chamfering device in this embodiment achieves adaptive floating chamfering operation with high efficiency, completely replacing the constant force grinding head. Furthermore, the adaptive floating mechanism, formed by the cooperation of the spherical bearing 1, sleeve 12, and multiple axial elastic forces, offers even greater flexibility. More importantly, it uses very few precision components, primarily the axial trigger 6, significantly reducing manufacturing costs.

[0071] See Figures 1 to 9 Furthermore, the axial trigger 6 includes an axial seat 61, an axial moving member 62, a first trigger member 63, a first working inductive switch 64, and an axial limit switch 65.

[0072] The axial seat 61 is connected to the sleeve 12. The axial moving member 62 is inserted into the axial seat 61. The axial moving member 62 is in contact with the swing body 11 of the spherical bearing 1. The axial moving member 62 is used to move up and down relative to the axial seat 61. The first trigger member 63 is connected to the axial moving member 62. The first working induction switch 64 and the axial limit switch 65 are connected to the axial seat 61 from bottom to top. The first working induction switch 64 and the axial limit switch 65 are respectively connected to the controller. The first trigger member 63 triggers the first working induction switch 64 to send the first axial trigger signal. The first trigger member 63 triggers the axial limit switch 65 to send the second axial trigger signal.

[0073] It should be noted that the spherical bearing 1 in this embodiment includes a spherical bearing 1 seat and a swing body 11. The swing body 11 is inside the spherical bearing 1 seat and maintains spherical contact with the bearing seat to achieve swinging in any direction.

[0074] In order to improve the adaptive floating capability of the adaptive floating chamfering device, the inventors of this invention use a spherical bearing 1 to achieve omnidirectional oscillation, that is, it can oscillate in any direction. It can also move up and down in the spherical bearing 1 through the sleeve 12. By verifying the omnidirectional oscillation and the up and down movement, the omnidirectional oscillation and omnidirectional up and down movement are realized, thereby improving the floating flexibility of the tool holder 21 below the electric spindle 3, so that the floating flexibility of the tool holder 21 reaches or even exceeds that of the hydraulic constant force grinding head.

[0075] However, using the spherical bearing 1 also creates new problems. To detect the lifting height of the sleeve 12 relative to the spherical bearing 1 and prevent the tool holder 21 from exceeding its safe stroke, a detection device is needed to determine the lifting height of the sleeve 12 relative to the spherical bearing 1. Conventional limit switches and displacement sensors need to be installed along a fixed straight line. Because the spherical bearing 1, in order to achieve universal oscillation, has a very high degree of freedom and a large swing range, the aforementioned conventional detection devices cannot be directly and effectively installed at the spherical bearing 1. Furthermore, these detection devices are prone to being crushed and damaged during the oscillation of the spherical bearing 1. Moreover, these detection devices cannot accurately detect the lifting height of the sleeve 12 relative to the spherical bearing 1.

[0076] To address this new problem, the inventors of this invention have placed the axial trigger 6 at the sleeve 12 and ensured that the axial moving member 62 is always in contact with the swing body 11 of the spherical bearing 1. Regardless of the direction in which the swing body 11 swings, the contact between the axial moving member 62 and the swing body 11 will not be affected. During the process of the sleeve 12 rising and falling relative to the swing body 11, the axial seat 61 fixed at the sleeve 12 moves up and down relative to the axial moving member 62. When the axial moving member 62 rises and falls to the set range, it drives the first trigger 63 to sequentially trigger the first working induction switch 64 and the axial limit switch 65, thereby realizing the detection of the rising and falling range of the tool bar 21 below the sleeve 12.

[0077] Thus, the axial trigger 6 described in this invention enables the limiting and accurate detection of the lifting height of complex lifting and floating structures with high sensitivity.

[0078] Preferably, the tool holder 21 is detachably connected to the electric spindle 3 via the tool shank 26, and the tool shank 26 is a T30 tool shank 26.

[0079] See Figures 1 to 9 Furthermore, each axial elastic reset mechanism 4 includes an upper spring 41, a lower spring 42, an axial guide rod 43, and a limiting block 44.

[0080] A baffle 121 is provided at the top of the sleeve 12, the electric spindle 3 is inserted into the baffle 121, and multiple axial guide rods 43 are vertically inserted into the baffle 121. The multiple axial guide rods 43 are evenly distributed along the circumference of the sleeve 12, and the axial guide rods 43 are used to slide up and down relative to the baffle 121.

[0081] The limiting block 44 is located at the top of the axial guide rod 43, and the upper spring 41 is sleeved on the outside of the axial guide rod 43 between the baffle 121 and the limiting block 44.

[0082] The bearing housing of the spherical plain bearing 1 has multiple guide rod mounting holes 14 on its top surface. The axial guide rods 43 are placed in the guide rod mounting holes 14 one by one, and the bottom end of the axial guide rod 43 is connected to the bottom end inside the guide rod mounting hole 14.

[0083] The lower spring 42 is sleeved on the outside of the axial guide rod 43 below the baffle 121, and the lower spring 42 is placed in the guide rod mounting hole 14.

[0084] Preferably, the limiting block 44 consists of two locking nuts 273, and the top of the axial guide rod 43 has a threaded structure. By cooperating with the top of the axial guide rod 43, the position of the limiting block 44 can be adjusted up and down, thereby adjusting the compression of the multiple upper springs 41.

[0085] Preferably, there are four upper springs 41, four lower springs 42, four axial guide rods 43, and four limiting blocks 44, that is, there are four axial elastic force reset mechanisms 4. The joint bearing 1 seat is a cube structure, and the four axial elastic force reset mechanisms 4 are respectively arranged at the four corners of the joint bearing 1 seat.

[0086] Preferably, the baffle 121 is a square plate with four concave arc edges, and only the positions of the four corners remain unchanged. This design can reduce the weight of the baffle 121 itself and reduce the coverage area of ​​the baffle 121 on the top surface of the spherical bearing 1, making it easier to inspect the internal structure of the spherical bearing 1 and to install the corresponding equipment at the spherical bearing 1.

[0087] In this invention, multiple axial elastic reset mechanisms 4 are evenly distributed around the sleeve 12, and the spherical bearing 1 is connected to the sleeve 12, achieving multi-directional elastic support for the sleeve 12. This allows the tool holder 21 to effectively buffer the sleeve 12 during up-and-down movement or swinging in any direction while simultaneously lifting and lowering, preventing the sleeve 12 from causing the electric spindle 3 to rigidly contact the spherical bearing 1. Furthermore, after the external force is removed, the multiple axial elastic reset mechanisms 4 respectively lift the sleeve 12 vertically upwards, achieving elastic reset of the sleeve 12. This restores the electric spindle 3 and the tool holder 21 to their original vertical positions.

[0088] In addition, each axial spring-loaded reset mechanism 4 mainly consists of an upper spring 41, a lower spring 42, an axial guide rod 43, and a limiting block 44. This simplifies the structure of the axial spring-loaded reset mechanism 4, reduces its weight, and thus reduces the drive power consumption of the actuator. Moreover, the structure is simple and occupies little space. In particular, placing the corresponding axial guide rod 43 in the multiple guide rod mounting holes 14 opened on the top surface of the bearing seat can reduce the installation space of the axial guide rod 43 and significantly reduce the vertical height of the multiple axial spring-loaded reset mechanisms 4.

[0089] See Figures 1 to 9 Furthermore, a fixed baffle 31 is provided on the top of the electric spindle 3. The fixed baffle 31 is connected to the baffle 121 by multiple bolts 32, and the swing body 11 is located below the bolts 32.

[0090] An axial seat 61 is disposed on the top surface of the baffle 121. The axial moving member 62 is a vertically arranged rod-shaped structure. A support arm 68 is disposed on the top surface of the baffle 121. The support arm 68 is an inverted L-shape, and the vertical arm of the support arm 68 is connected to the top surface of the baffle 121.

[0091] The axial moving part 62 is inserted into the first through hole of the bolt 32. The bottom end of the axial moving part 62 contacts the swing body 11. A limit stop ring is provided at the top of the axial moving part 62. The axial moving part 62 is inserted into the cross arm of the support arm 68. A push spring 67 is sleeved on the axial moving part 62. The push spring 67 is placed between the cross arm and the limit stop ring.

[0092] The first trigger 63 is a horizontally arranged cuboid structure. The first trigger 63 is connected to the top of the axial moving part 62 and is positioned above the cross arm. The axial seat 61 is a vertically arranged plate-shaped structure. The axial seat 61 has two vertically arranged elongated adjustment holes 69. The first working induction switch 64 and the axial limit switch 65 are respectively arranged in one of the elongated adjustment holes 69. The first working induction switch 64 and the axial limit switch 65 are fixed at any specified height in the corresponding elongated adjustment holes 69 by locking the nut 273.

[0093] In this invention, although the axial moving part 62 is designed to move up and down, in actual use, if the axial moving part 62 is to always keep in contact with the swing body 11, the axial moving part 62 must be set close to the outer wall of the sleeve 12 and be able to move up and down relative to the sleeve 12. The structural feature of the electric spindle 3 is that a fixed baffle 31, that is, a circular baffle, is set at the top. The fixed baffle 31 is connected to the baffle 121 to realize the connection and fixation between the sleeve 12 and the electric spindle 3. Since the electric spindle 3 is large in size and heavy, the thickness of the baffle 121 needs to be increased to improve the fixation. The fixed baffle 31 is set close to the baffle 121, which means that the axial moving part 62 needs to pass through the thick baffle 121 and the fixed baffle 31 at the same time. Therefore, deep holes need to be opened at the baffle 121 and the fixed baffle 31 to ensure that the axial moving part 62 passes through smoothly. Furthermore, to ensure the sensitivity of the axial moving part 62 to the relative motion response between the spherical bearing 1 and the sleeve 12, the axial moving part 62 is usually a rod-shaped part with a relatively small diameter. This results in a smaller diameter hole for deep holes, which is difficult to machine. Moreover, during assembly, it is necessary to ensure the continuity of the axial moving part 62 through both the baffle 121 and the fixed retaining edge 31 to prevent the axial moving part 62 from being stuck and unable to move up and down due to misalignment between the baffle 121 and the fixed retaining edge 31. This significantly increases the difficulty of fixing and installing the axial trigger 6.

[0094] Therefore, this invention cleverly utilizes the characteristic that the fixed baffle 31 and the baffle 121 are connected by multiple bolts 32. A first through hole is made in one of the bolts 32, allowing the axially movable component 62 to be inserted into the first through hole. This eliminates the need to simultaneously drill holes in both the heavy baffle 121 and the fixed baffle 31. Drilling a hole in a small bolt 32 is easier and simpler, thus significantly simplifying the drilling method. Moreover, the bolt 32, as a whole, is inserted into both the baffle 121 and the fixed baffle 31, which can protect the axially movable component 62 and prevent the baffle 121 from moving relative to the fixed baffle 31 and causing shearing or jamming of the axially movable component 62. In this way, the difficulty of installing and fixing the axially movable component 62 is greatly reduced.

[0095] In addition, the axial moving part 62 is guided and supported by the support arm 68, and in conjunction with the push spring 67 and the limit ring, the axial moving part 62 is always kept in close contact with the swing body 11, so that the moving distance of the first trigger 63 relative to the axial seat 61 is consistent with the vertical moving distance of the swing body 11 relative to the sleeve 12, thereby achieving accurate detection of the lifting and lowering of the sleeve 12.

[0096] In addition, the axial seat 61 has two vertically arranged elongated adjustment holes 69. The first working induction switch 64 and the axial limit switch 65 are respectively set in one of the elongated adjustment holes 69, which realizes arbitrary adjustment of the height of the first working induction switch 64 and the axial limit switch 65, and can adjust the height of the first working induction switch 64 and the axial limit switch 65 to be approximately the same. In this way, when the floating range of the tool holder 21 just exceeds the normal working set distance, it can be detected and the tool holder 21 can be returned to the previous set height.

[0097] Preferably, both the first working inductive switch 64 and the axial limit switch 65 can be limit switches.

[0098] Of course, the first working inductive switch 64 and the axial limit switch 65 could also be replaced by a displacement sensor to achieve accurate detection of the normal working height and exceeding the range. However, the cost of a displacement sensor is higher than the cost of two limit switches. Therefore, using the first working inductive switch 64 and the axial limit switch 65 can reduce costs.

[0099] See Figures 1 to 9 Furthermore, the adaptive floating chamfering device in this embodiment also includes a connecting plate 13 and a radial elastic reset mechanism 5. The connecting plate 13 is vertically arranged, the spherical bearing 1 is connected to one side of the connecting plate 13, and the actuator is connected to the other side of the connecting plate 13.

[0100] The radial elastic reset mechanism 5 is connected to one side of the connecting plate 13. The radial elastic reset mechanism 5 is located below the joint bearing 1. The electric spindle 3 is inserted into the radial elastic reset mechanism 5. The radial elastic reset mechanism 5 is used to keep the electric spindle 3 in a vertical state and to reset the electric spindle 3 to the set position after the electric spindle 3 swings in any direction.

[0101] The adaptive floating chamfering device in this embodiment also includes a radial trigger 7.

[0102] The radial trigger 7 is positioned above the electric spindle 3 and connected to the connecting plate 13.

[0103] The radial trigger 7 is used to be triggered when the electric spindle 3 swings a set distance in any direction and sends a radial trigger signal to the controller.

[0104] During use, the inventors of this invention discovered that although the arrangement of multiple axial elastic reset mechanisms 4 can achieve radial reset, the response speed is slow, which causes the tool holder 21 to not retract in time and easily damages the surface of the steel plate edge.

[0105] Therefore, this embodiment uses a radial trigger 7 to detect the travel range of the tool holder 21 and sends an alarm to the controller when it exceeds the travel limit. The controller then controls the actuator to move the tool holder 21 away from the steel plate. More importantly, the radial spring-force reset mechanism 5 enables the electric spindle 3 to quickly return to its original vertical state. When the tool holder 21 swings beyond its travel limit, the actuator and the radial spring-force reset mechanism 5 work together to quickly retract the tool holder 21, thereby reducing the degree of damage to the steel plate surface. In particular, for steel plates with high machining precision requirements in the shipbuilding industry, it can achieve fully automatic intelligent chamfering operations and ensure the accuracy of chamfering.

[0106] See Figures 1 to 9 Furthermore, the radial trigger 7 includes: a boom 71, a transverse linear guide mechanism 72, a longitudinal linear guide mechanism 73, a second trigger element 74, a connecting pin 75, a second working induction switch 76, and a radial limit switch 77.

[0107] The boom 71 is connected to the top of the connecting plate 13 and is positioned above the electric spindle 3. A transverse linear guide mechanism 72, a longitudinal linear guide mechanism 73, and a connecting pin 75 are sequentially arranged between the boom 71 and the electric spindle 3 from top to bottom. The guide rail of the transverse linear guide mechanism 72 is connected to the boom 71, and the slider of the transverse linear guide mechanism 72 is connected to the guide rail of the longitudinal linear guide mechanism 73. The slider of the longitudinal linear guide mechanism 73 is connected to the connecting pin 75 via a ball hinge. The connecting pin 75 is connected to the top of the electric spindle 3.

[0108] The second trigger 74 is a horizontally arranged rectangular plate. One end of the second trigger 74 is connected to the slider of the longitudinal linear guide mechanism 73. The second working induction switch 76 and the radial limit switch 77 are arranged adjacent to each other radially. The second working induction switch 76 is located close to the electric spindle 3. The other end of the second trigger 74 has a working trigger hole 78 and a limit trigger hole 79. Both the second working induction switch 76 and the radial limit switch 77 are limit switches. Both the working trigger hole 78 and the limit trigger hole 79 are through holes. The diameter of the working trigger hole 78 is smaller than the diameter of the limit trigger hole 79. The diameter of the working trigger hole 78 is larger than the head diameter of the second working induction switch 76. The second working induction switch 76 is aligned with the working trigger hole 78, and the radial limit switch 77 is aligned with the limit trigger hole 79.

[0109] When the second working induction switch 76 triggers the side wall of the working trigger hole 78, it sends a first radial trigger signal to the controller. When the radial limit switch 77 triggers the side wall of the limit trigger hole 79, it sends a second radial trigger signal to the controller.

[0110] When the tool holder 21 makes inclined contact with the steel plate, it tilts and floats, causing the electric spindle 3 to drive the spherical hinge to swing in the corresponding direction. This causes the transverse linear guide mechanism 72 and the longitudinal linear guide mechanism 73 to move accordingly, thereby causing the second trigger 74 to swing relative to the second working induction switch 76 and the radial limit switch 77. When the second working induction switch 76 contacts the side wall of the working trigger hole 78, the controller learns through the first radial trigger signal that the tool holder 21 has reached the normal floating swing range and stops moving the tool holder 21 closer to the steel plate. However, when the floating range of the tool holder 21 is too large, causing the radial limit switch 77 to trigger the side wall of the limit trigger hole 79, the controller learns through the second radial trigger signal that the swing range of the tool holder 21 has exceeded the limit range. The controller then controls the actuator to move the tool holder 21 away from the steel plate or return it to the position where the first radial trigger signal was received, to prevent further damage to the edges of the steel plate.

[0111] When the tool holder 21 moves away from the steel plate, the radial elastic reset mechanism 5 quickly resets the electric spindle 3 to maintain its vertical position, and the electric spindle 3 drives the transverse linear guide mechanism 72 and the longitudinal linear guide mechanism 73 to return to their normal positions through the ball hinge.

[0112] In this way, the horizontal linear guide mechanism 72 and the vertical linear guide mechanism 73 decompose the swing motion of the tool bar 21 in any direction into horizontal movement and vertical movement, and finally transform it into the swing of the second trigger 74 relative to the second working induction switch 76 and the radial limit switch 77. This realizes the transformation of the uncertainty of the swing direction of the tool bar 21 into the swing of the second working induction switch 76 relative to the working trigger hole 78, and the swing of the radial limit switch 77 relative to the limit trigger hole 79.

[0113] See Figures 1 to 9 Furthermore, the radial elastic reset mechanism 5 includes: an annular base 51, multiple radial sleeves 52, multiple push rods 53, multiple threaded sleeves 54, and multiple radial springs 55.

[0114] The annular base 51 is connected to the connecting plate 13. The bottom of the electric spindle 3 is inserted into the annular base 51. Multiple radial sleeves 52 are detachably connected to the annular base 51. A limit stop is provided near the front end of the push rod 53. Each push rod 53 is inserted into a radial sleeve 52. The front end of the push rod 53 extends out of the front end of the radial sleeve 52 and contacts the electric spindle 3. The rear end of each push rod 53 is inserted into a threaded sleeve 54 and threadedly connected. The threaded sleeve 54 is threadedly connected to the rear end of the radial sleeve 52. Each radial spring 55 is sleeved on the outside of a push rod 53. The radial spring 55 is placed between the limit stop and the threaded sleeve 54.

[0115] Preferably, there are 8 radial sleeves 52, push rods 53, threaded sleeves 54 and radial springs 55.

[0116] By utilizing a circular base 51, multiple radial sleeves 52, multiple push rods 53, multiple threaded sleeves 54, and multiple radial springs 55, the bottom of the electric spindle 3 is spring-forced to be pushed, thus achieving spring-force buffering when the electric spindle 3 swings in any direction. On the other hand, when the tool holder 21 moves away from the steel plate, the electric spindle 3 is restored to an upright state through spring-force reset.

[0117] See Figures 1 to 9 Furthermore, the adaptive floating chamfering device also includes multiple rolling bearings 271, an external threaded sleeve 272, a locking nut 273, a lifting nut 274, and a lower cutter body 275.

[0118] Multiple rolling bearings 271 are sequentially fitted around the tool holder 21 from top to bottom. An external threaded sleeve 272 is fitted around the multiple rolling bearings 271. Multiple upper blades 23 are installed on the tool holder 21 below the external threaded sleeve 272. The multiple upper blades 23 are evenly distributed along the circumference of the tool holder 21. Locking nuts 273 and lifting nuts 274 are sequentially threaded into the external threaded sleeve 272 from top to bottom. An axial limiting pressure plate 22 is detachably connected to the lower part of the lifting nut 274. The axial limiting pressure plate 22 is a hollow annular structure. The multiple upper blades 23 are placed inside the axial limiting pressure plate 22. The bottom edge of each upper blade 23 extends out of the bottom surface of the axial limiting pressure plate 22. The locking nut 273 is in contact with the lifting nut 274.

[0119] A radial limiting wheel 25 is fitted around the tool holder 21 and positioned below multiple upper blades 23. Multiple lower blades 24 are detachably connected to a lower blade body 275, which is detachably connected to the bottom of the tool holder 21. The multiple lower blades 24 are positioned below the radial limiting wheel 25 and are evenly distributed along the circumference of the tool holder 21.

[0120] The bottom surface of the axial limiting pressure plate 22 is a downwardly convex conical surface.

[0121] During the chamfering operation, the axial limiting pressure plate 22 remains in contact with the steel plate. Multiple rolling bearings 271 allow the axial limiting pressure plate 22 to rotate relative to the tool holder 21, preventing the tool holder 21 from being fixed to the axial limiting pressure plate 22 and thus jamming. Furthermore, considering that the typical chamfer radius is around 2mm or 3mm, to ensure accurate chamfering dimensions on the edge of the steel plate, only the bottom edge of each upper blade 23 extends beyond the bottom surface of the axial limiting pressure plate 22.

[0122] Furthermore, to meet different chamfer radii requirements, the extension of the bottom cutting edge of the upper blade 23 needs to be adjusted. For this purpose, an axial limiting pressure plate 22 is fixed below the lifting nut 274. The lifting nut 274 is threadedly engaged with the external threaded sleeve 272. The axial movement of the lifting nut 274 causes the axial limiting pressure plate 22 to rise and fall, thereby adjusting the extension of the bottom cutting edge of multiple upper blades 23 and changing the chamfer radius of the upper blade 23. Simultaneously, a locking nut 273 is tightly fitted together with the lifting nut 274 to form a double-nut structure. After the lifting nut 274 is positioned, it is fixed to prevent it from moving up and down.

[0123] Preferably, the bottom surface of the axial limiting pressure plate 22 is a downwardly convex conical surface, and the taper of the bottom surface of the axial limiting pressure plate 22 is about 8°.

[0124] This design utilizes the conical surface as a guide to prevent the top surface of the steel plate from being too high, which would cause the bottom surface of the axial limiting pressure plate 22 to collide with the side of the steel plate, preventing the upper blade 23 from getting close to the side edge of the steel plate.

[0125] In addition, the lower blade body 275 is detachably connected to the bottom of the blade bar 21, which facilitates the installation of the radial limiting wheel 25. A pad can be set between the lower blade body 275 and the radial limiting wheel 25 to adjust the distance between the upper blade 23 and the lower blade 24.

[0126] See Figures 1 to 9 Furthermore, the adaptive floating chamfering device in this embodiment also includes a flipper, an integrated base 82, a vision recognition device, and a sorter 81. The flipper is located at the end of the actuator. The integrated base 82 is connected to the flipper. The spherical bearing 1 is connected to the integrated base 82. The vision recognition device and the sorter 81 are respectively connected to the integrated base 82. The blade bar 21, the vision recognition device, and the sorter 81 extend in different directions. The flipper drives the integrated base 82 to flip, so that the blade bar 21, the vision recognition device, and the sorter 81 are respectively flipped to a vertically downward working state. The vision recognition device, the sorter 81, and the flipper are respectively connected to the controller.

[0127] By integrating the flipper, integrated base 82, vision recognition device, and sorter 81 at the end of the actuator, intelligent and fully automated chamfering operations are achieved. Furthermore, by utilizing the blade 21, vision recognition device, and sorter 81 to extend in different directions respectively, motion interference between the blade 21, vision recognition device, and sorter 81 is prevented.

[0128] See Figures 1 to 9 Furthermore, the visual recognition device includes a coarse-line scanning laser 83, a fine-line scanning laser 84, a CCD camera 85, and a 3D camera 86.

[0129] The integrated base 82 is mainly composed of multiple plate-shaped parts. The spherical bearing 1 is placed on the front side of the integrated base 82. The electric spindle 3 is set vertically. The sorter 81 is set on the rear side of the integrated base 82. The extension direction of the sorter 81 is set at an acute angle to the extension direction of the electric spindle 3. The actuator is a six-degree-of-freedom articulated arm. The flipper is the end of the actuator. The coarse line scanning laser 83, the fine line scanning laser 84, the CCD camera 85 and the 3D camera 86 are all set on the same side of the integrated base 82. The coarse line scanning laser 83, the fine line scanning laser 84, the 3D camera 86 and the CCD camera 85 are arranged adjacent to each other from front to back. The shooting direction of the 3D camera 86 and the CCD camera 85 both extend horizontally to the left. The coarse line scanning laser 83 shines towards the left side of the CCD camera 85 at a first set distance. The fine line scanning laser 84 shines towards the left side of the CCD camera 85 at a second set distance. The first set distance is greater than the second set distance.

[0130] The first and second set distances are both within the recognition range of the CCD camera 85.

[0131] Using a 3D camera 86, the steel plate is subjected to overall graphic recognition. Then, using a coarse line scanning laser 83 in conjunction with a CCD camera 85, the steel plate edge dimensions are coarsely identified. Here, the first set distance is greater than the second set distance, so that the robotic arm does not need to drive the integrated base 82 to make large movements, thereby saving energy.

[0132] Finally, a precise line scan identification and detection is performed along the edge of the steel plate using a fine line scanning laser 84 in conjunction with a CCD camera 85.

[0133] Alternatively, the 3D camera 86 can simultaneously perform visual inspection on multiple steel plates on the worktable, while the coarse line scanning laser 83 and the CCD camera 85 work together to simultaneously perform line scanning recognition on multiple steel plates on the worktable.

[0134] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An adaptive floating chamfering device, characterized by, The utility model relates to a kind of cutting machine, including: Actuator, joint bearing, sleeve, cutter bar, axial limit pressure disc, multiple upper blades, multiple lower blades, radial limit leaning wheel, motorized spindle, multiple axial elastic reset mechanisms, axial trigger and controller, The joint bearing is connected with the actuator, the sleeve is sleeved outside the motorized spindle, the sleeve is inserted in the joint bearing and is vertically arranged, and the sleeve is used to move up and down in the joint bearing. Multiple axial elastic reset mechanisms are connected with the joint bearing and the sleeve, and are arranged around the axial direction of the sleeve. The cutter bar is vertically arranged and detachably connected to the bottom end of the motorized spindle, the axial limit pressure disc is coaxially connected to the cutter bar, the axial limit pressure disc is rotatably connected to the cutter bar, the axial limit pressure disc is used to press on the top surface of the steel plate, multiple upper blades are evenly arranged around the axial direction of the cutter bar on the side wall of the cutter bar below the axial limit pressure disc, the radial limit leaning wheel is coaxially connected to the cutter bar below multiple upper blades, and the radial limit leaning wheel is used to lean on the side surface of the steel plate, and multiple lower blades are evenly arranged around the axial direction of the cutter bar on the side wall of the cutter bar below the radial limit leaning wheel. The axial trigger is arranged at the sleeve, and the axial trigger cooperates with the swing body of the joint bearing to trigger the axial trigger to send a first axial trigger signal to the controller when the sleeve is lifted or lowered by a first set distance relative to the joint bearing, and to trigger the axial trigger to send a second axial trigger signal to the controller when the sleeve is lifted or lowered by a second set distance relative to the joint bearing, the first set distance is less than the second set distance, and the controller is connected with the actuator controller.

2. The adaptive floating de-cambering device of claim 1, wherein, The axial trigger includes an axial seat, an axial moving part, a first trigger, a first working inductive switch, and an axial limit switch. The axial seat is connected with the sleeve, the axial moving part is inserted in the axial seat, the axial moving part is in contact with the swing body of the joint bearing, the axial moving part is used to move up and down relative to the axial seat, and the first trigger is connected with the axial moving part. The first working inductive switch and the axial limit switch are sequentially connected with the axial seat from bottom to top, the first trigger triggers the first working inductive switch to send the first axial trigger signal to the controller, and the first trigger triggers the axial limit switch to send the second axial trigger signal to the controller.

3. The adaptive floating de-cambering device of claim 2, wherein, Each axial elastic reset mechanism includes an upper spring, a lower spring, an axial guide rod, and a limit block. The top end of the sleeve is provided with a baffle, the motorized spindle is inserted in the baffle, multiple axial guide rods are vertically inserted in the baffle, and the axial guide rods are evenly arranged along the circumference of the sleeve. The limit block is arranged at the top end of the axial guide rod, the upper spring is sleeved outside the axial guide rod between the baffle and the limit block, The top surface of the bearing seat of the joint bearing is provided with a plurality of guide rod mounting holes, the axial guide rods are arranged in the guide rod mounting holes one by one, and the bottom ends of the axial guide rods are connected with the bottom ends in the guide rod mounting holes, The lower spring is arranged outside the axial guide rod below the baffle, and the lower spring is arranged in the guide rod mounting hole.

4. The self-adapting floating de-cambering device of claim 3, wherein, The top of the electric spindle is provided with a fixed baffle, the fixed baffle is connected with the baffle through a plurality of bolts, and the swinging body is arranged below the bolts, The axial seat is arranged on the top surface of the baffle, the axial moving part is a vertically arranged rod-shaped structure, the top surface of the baffle is provided with a support arm, the support arm is an inverted L-shaped structure, the vertical arm of the support arm is connected with the top surface of the baffle, The axial moving part is inserted into a first through hole arranged in the bolt, the bottom end of the axial moving part is in contact with the swinging body, the top of the axial moving part is provided with a limiting baffle ring, the axial moving part is inserted into the horizontal arm of the support arm, the axial moving part is sleeved with a push spring, and the push spring is arranged between the horizontal arm and the limiting baffle ring, The first trigger part is a horizontally arranged cuboid structure, the first trigger part is connected with the top of the axial moving part, the first trigger part is arranged above the horizontal arm, the axial seat is a vertically arranged plate-shaped structure, the axial seat is provided with two vertically arranged long strip-shaped adjusting holes, the first working sensing switch and the axial limiting switch are arranged in one of the long strip-shaped adjusting holes respectively, and the first working sensing switch and the axial limiting switch are fixed at any specified height in the corresponding long strip-shaped adjusting hole through a locking nut.

5. The adaptive floating de-cambering device of claim 1, wherein, The adaptive floating chamfering device further comprises a connecting plate and a radial elastic reset mechanism, the connecting plate is vertically arranged, the joint bearing is connected with one side of the connecting plate, and the actuating mechanism is connected with the other side of the connecting plate, The radial elastic reset mechanism is connected with one side of the connecting plate, the radial elastic reset mechanism is arranged below the joint bearing, the electric spindle is inserted into the radial elastic reset mechanism, and the radial elastic reset mechanism is used for keeping the electric spindle in a vertical state and resetting the electric spindle to a set position after the electric spindle swings in any direction. The adaptive floating chamfering device further comprises a radial trigger, The radial trigger is arranged above the electric spindle and connected with the connecting plate, The radial trigger is used for being triggered and sending a radial trigger signal to the controller when the electric spindle swings in any direction by a set distance.

6. The self-adapting floating de-cambering device of claim 5, wherein, The radial trigger comprises a hanging arm, a horizontal linear guide rail mechanism, a vertical linear guide rail mechanism, a second trigger part, a connecting pin, a second working sensing switch and a radial limiting switch. The hanging arm is connected with the top of the connecting plate, the hanging arm is arranged above the electric spindle, the transverse linear guide mechanism, the longitudinal linear guide mechanism and the connecting pin are sequentially arranged from top to bottom between the hanging arm and the electric spindle, the guide rail of the transverse linear guide mechanism is connected with the hanging arm, the sliding block of the transverse linear guide mechanism is connected with the guide rail of the longitudinal linear guide mechanism, the sliding block of the longitudinal linear guide mechanism is connected with the connecting pin through a spherical hinge, and the connecting pin is connected with the top of the electric spindle, The second trigger is a horizontally arranged rectangular plate, one end of the second trigger is connected with the sliding block of the longitudinal linear guide mechanism, the second working inductive switch and the radial limit switch are arranged adjacent along the radial direction, the second working inductive switch is arranged close to the electric spindle, the other end of the second trigger is provided with a working trigger hole and a limit trigger hole, the second working inductive switch and the radial limit switch are both limit switches, the working trigger hole and the limit trigger hole are both through holes, the diameter of the working trigger hole is smaller than the diameter of the limit trigger hole, the diameter of the working trigger hole is greater than the diameter of the head of the second working inductive switch, the second working inductive switch is aligned with the working trigger hole, and the radial limit switch is aligned with the limit trigger hole, When the second working inductive switch triggers the side wall of the working trigger hole, a first radial trigger signal is sent to the controller, and when the radial limit switch triggers the side wall of the limit trigger hole, a second radial trigger signal is sent to the controller.

7. The self-adaptive floating deburring device according to claim 5, wherein the radial elastic reset mechanism comprises a circular ring base, a plurality of radial sleeves, a plurality of push rods, a plurality of threaded sleeves and a plurality of radial springs. The circular ring base is connected with the connecting plate, the bottom of the electric spindle is inserted into the circular ring base, a plurality of the radial sleeves are detachably connected with the circular ring base, the push rod is provided with a limit baffle at the front end thereof, each push rod is inserted into a radial sleeve, the front end of the push rod protrudes from the front end of the radial sleeve and is in contact with the electric spindle, the rear end of each push rod is inserted into a threaded sleeve and is threadedly connected, the threaded sleeve is threadedly connected with the rear end of the radial sleeve, and each radial spring is sleeved on the push rod.

8. The self-adaptive floating deburring device according to claim 5, further comprising a plurality of bearings, an external threaded sleeve, a locking nut, a lifting nut and a lower cutter body. ​ ​ A plurality of bearings are sequentially sleeved on the outer side of the cutter bar from top to bottom, the external thread sleeve is sleeved on the outer side of the plurality of bearings, a plurality of upper blades are mounted on the cutter bar below the external thread sleeve, the plurality of upper blades are arranged along the circumferential direction of the cutter bar, the locking nut and the lifting nut are sequentially screwed with the external thread sleeve from top to bottom, the axial limiting pressure plate is detachably connected below the lifting nut, the axial limiting pressure plate is a hollow annular structure, the plurality of upper blades are arranged in the axial limiting pressure plate, the bottom edge of each upper blade extends out of the bottom surface of the axial limiting pressure plate, the locking nut is in contact with the lifting nut, The radial limiting wheel is sleeved on the outer side of the cutter bar and arranged below the plurality of upper blades, a plurality of lower blades are detachably connected to the lower cutter body, the lower cutter body is detachably connected to the bottom of the cutter bar, the plurality of lower blades are arranged below the radial limiting wheel, and the plurality of lower blades are arranged along the circumferential direction of the cutter bar, The bottom surface of the axial limiting pressure plate is a downwardly convex conical surface.

9. The self-adapting floating de-cambering device according to any one of claims 1 to 8, wherein, The adaptive floating chamfering device further comprises a turnover device, an integrated seat, a visual recognition device, and a sorting device, the turnover device is arranged at the end of the actuator, the integrated seat is connected with the turnover device, the joint bearing is connected with the integrated seat, the visual recognition device and the sorting device are respectively connected with the integrated seat, the cutter bar, the visual recognition device, and the sorting device respectively extend in different directions, the integrated seat is turned over by the turnover device, so that the cutter bar, the visual recognition device, and the sorting device are respectively turned over to a vertical downward working state, and the visual recognition device, the sorting device, and the turnover device are respectively connected with the controller.

10. The adaptive floating de-cambering device of claim 9, wherein, The visual recognition device comprises a coarse line scanning laser, a fine line scanning laser, a ccd camera, and a 3d camera, The integrated seat is mainly composed of a plurality of plate-shaped pieces, the joint bearing is arranged on the front side of the integrated seat, the electric spindle is vertically arranged, the sorting device is arranged on the rear side of the integrated seat, the extension direction of the sorting device and the extension direction of the electric spindle are arranged at an acute angle, the actuator is a six-degree-of-freedom joint arm, the turnover device is the end of the actuator, the coarse line scanning laser, the fine line scanning laser, the ccd camera, and the 3d camera are arranged on the same side of the integrated seat, the coarse line scanning laser, the fine line scanning laser, the 3d camera, and the ccd camera are sequentially arranged adjacent to each other from front to back, the shooting directions of the 3d camera and the ccd camera both extend horizontally to the left, the coarse line scanning laser irradiates at a first set distance to the left side of the ccd camera, the fine line scanning laser irradiates at a second set distance to the left side of the ccd camera, and the first set distance is greater than the second set distance.

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