Intelligent cutting system and method for spiral roller end disc plane

Abstract

The invention belongs to the technical field of mining machinery, and discloses a spiral roller end disc plane intelligent cutting system and method.The spiral roller end disc plane intelligent cutting system comprises a three-axis rotating positioner, a material fixing table is installed on the three-axis rotating positioner, and a material fixing table square hole is formed in the material fixing table; a lifting hole is formed in the side wall of the semi-finished roller product, a connecting disc square hole is formed in one end of the semi-finished roller product, an end disc is arranged at the other end of the semi-finished roller product, and the connecting disc square hole is matched with the material fixing table square hole; the flame cutting assembly is used for cutting the semi-finished roller product; and the 3D position finding device comprises a 3D camera, a laser position finding device and a control platform, and the three-axis rotating positioner, the 3D camera, the laser position finding device and the flame cutting assembly are all connected with the control platform. According to the technical scheme, the labor intensity is reduced, the cutting time is shortened, and the cutting efficiency and the cutting precision are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining machinery, and in particular relates to an intelligent cutting system and method for the plane of a spiral drum end disc. Background Art

[0002] The spiral drum of the coal mining machine is a cutting device used in coal mines, in which the end plate is a welded part of the drum. By cutting a plane on the end plate for welding the tooth seat, the coal rock on the end plate side of the drum front end is cut. Whether the position and angle of the end plate cutting plane are aligned with the designed position and angle will determine the installation accuracy of the tooth seat. In the past, the end plate cutting plane was cut by drawing a line first and then cutting. This method required high labor intensity and the overall processing process had poor accuracy. It was entirely up to the workers to ensure the welding accuracy and installation accuracy, which was time-consuming and labor-intensive, and seriously affected the welding accuracy of the tooth seat and the end plate cutting efficiency. Summary of the Invention

[0003] The purpose of the present invention is to provide a system and method for intelligently cutting the plane of the end disc of a spiral drum to solve the problems existing in the above-mentioned prior art.

[0004] On the one hand, to achieve the above-mentioned purpose, the present invention provides a spiral drum end plate plane intelligent cutting system, comprising:

[0005] A three-axis rotary positioner, wherein a material fixing table is installed on the three-axis rotary positioner, and a material fixing table square hole is opened on the material fixing table;

[0006] A semi-finished drum, wherein a lifting hole is provided on the side wall of the semi-finished drum, a square hole for a connecting plate is provided at one end of the semi-finished drum, and an end plate is provided at the other end, wherein the square hole for the connecting plate is matched with the square hole for the material fixing platform;

[0007] Flame cutting assembly, used for cutting the semi-finished drum;

[0008] 3D positioning equipment, the 3D positioning equipment includes a 3D camera, a laser positioning device and a control platform, the three-axis rotary positioner, the 3D camera, the laser positioning device and the flame cutting component are all connected to the control platform.

[0009] Optionally, a bottom fixing block is provided on the outer wall of the material fixing platform, and a top fixing block is provided in the square hole of the fixing platform, which is fixedly connected to the square hole of the connecting plate by controlling the bottom fixing block to move up and down and controlling the top fixing block to rotate and move.

[0010] Optionally, it also includes transportation equipment, which includes a transport vehicle and a lifting device. The lifting device lifts the semi-finished roller through the lifting holes on the semi-finished roller and places it on the transport vehicle.

[0011] Optionally, a waste removal device is further included, and the waste removal device includes a waste collection vehicle, and the waste collection vehicle is arranged below the roller semi-finished product.

[0012] Optionally, the waste removal equipment further comprises a fixed sliding guide rail, and the waste collection vehicle is slidably mounted in the fixed sliding guide rail.

[0013] On the other hand, to achieve the above-mentioned purpose, the present invention provides a method for intelligently cutting the plane of the end disc of a spiral drum, comprising:

[0014] Step 1: Lift the semi-finished drum onto a transport vehicle using a lifting device, and transport the semi-finished drum to a preset location using the transport vehicle;

[0015] Step 2: Install the material fixing table on the three-axis rotary positioner, connect the square holes of the material fixing table with the square holes of the connecting plate, and use the control platform to control the movement of the bottom and top fixing blocks to fix the semi-finished roller. After fixing, change the placement direction of the semi-finished roller through the three-axis rotary positioner;

[0016] Step 3: The control platform controls the laser positioning device to locate the three positioning holes on the end plate plane of the semi-finished drum, construct a real-time 3D model of the semi-finished drum, compare the real-time 3D model with the preset 3D model, and construct a 3D coordinate system based on the positioning holes to obtain the spatial position of the plane to be cut;

[0017] Step 4: Control the waste collection vehicle via the control platform to move on the fixed sliding guide rail to below the position to be cut;

[0018] Step 5: Start the flame cutting assembly to cut the end face of the semi-finished drum.

[0019] The technical effects of the present invention are:

[0020] (1) Compared with the traditional manual method, the method of the present invention greatly reduces the labor intensity, shortens the cutting time, and improves the cutting efficiency.

[0021] (2) The present invention ensures the cutting accuracy of each end plate cutting plane, and the entire end plate cutting process is intelligent, without the need for human control, thereby improving the cutting accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0024] Figure 1 Schematic diagram of the connection structure between the lifting device and the semi-finished drum in an embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the transport vehicle structure in an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the connection structure between the three-axis rotary positioner and the material fixing platform in an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the structure of a 3D positioning device and a cutting component in an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the structure of the waste removal equipment in an embodiment of the present invention;

[0029] Figure 6 Schematic diagram of the docking of the square hole of the material fixing platform and the square hole of the connection plate in an embodiment of the present invention;

[0030] Figure 7 Schematic diagram of the cutting process in an embodiment of the present invention.

[0031] Explanation of the numbers: 1. Semi-finished roller; 2. Lifting device; 3. Transport vehicle; 4. Material fixing table; 5. Three-axis rotary positioner; 6. First rotating device of the three-axis rotary positioner; 7. Second rotating device of the three-axis rotary positioner; 8. Longitudinal moving device of the three-axis rotary positioner; 9. 3D camera; 10. End plate cutting robot; 11. Flame cutting assembly; 12. Laser positioning equipment; 13. Fixed sliding guide rail; 14. Waste collection vehicle; 15. Waste box; 16. Cutting waste; 17. Connecting plate; 18. Bottom fixing block; 19. Top fixing block. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings, and several embodiments of the present invention are given. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0034] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0035] The words “include,” “including,” “have,” “contain,” etc. used in this article are open-ended terms, meaning including but not limited to.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention pertains. The terms used in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] Currently, the cutting efficiency of the end disc of the coal mining machine drum is low. Generally, it is necessary to first check the cutting position and cutting angle on the two-dimensional drawing and then draw corresponding lines on the end disc before cutting. The drawing time accounts for one-third of the entire processing time, making the end disc plane cutting a time-consuming and labor-intensive task, and also putting pressure on the workers. In addition, the current end disc plane drawing dimensions are proofread and installed by the workers. The overall processing accuracy varies from person to person. Poor processing accuracy will affect the installation accuracy of the gear seat, thereby affecting the drum cutting performance, reducing the drum cutting efficiency, and making it difficult to ensure the accuracy of the cutting plane.

[0039] In order to solve the above problems, this embodiment provides a spiral drum end plate plane intelligent cutting system, such as Figure 1-Figure 7 As shown in the figure, the types of equipment included in this system are as follows:

[0040] Transport equipment: transport vehicle 3, lifting device 2 (bridge crane, etc.);

[0041] Fixed equipment: three-axis rotary positioner 5, material fixing table 4;

[0042] 3D positioning equipment: 3D camera 9, laser positioning equipment 12, control platform;

[0043] Waste removal equipment: waste collection vehicle 14 (with waste box 15), fixed sliding guide rail;

[0044] It is feasible that a material fixing table 4 is installed on the three-axis rotary positioner 5, and a material fixing table square hole is opened on the material fixing table 4; a lifting hole is provided on the side wall of the semi-finished roller 1, and a connecting disk square hole is provided at one end of the semi-finished roller 1, and an end disk is provided at the other end, and the connecting disk square hole is matched with the material fixing table square hole; the flame cutting component 11 is used to cut the semi-finished roller 1; the 3D positioning equipment includes a 3D camera 9, a laser positioning equipment 12 and a control platform, and the three-axis rotary positioner 5, the 3D camera 9, the laser positioning equipment 12 and the flame cutting component 11 are all connected to the control platform.

[0045] It is feasible that a bottom fixing block 18 is provided on the outer wall of the material fixing platform 4, and a top fixing block 19 is provided in the square hole of the fixing platform. The bottom fixing block 18 is controlled to move up and down and the top fixing block 19 is controlled to rotate and move to be fixedly connected to the square hole of the connecting plate.

[0046] It is feasible to further include transport equipment, which includes a transport vehicle 3 and a lifting device 2 . The lifting device 2 lifts the semi-finished drum product 1 through the lifting holes on the semi-finished drum product 1 and places it on the transport vehicle 3 .

[0047] It is feasible to further include a waste removal device, which includes a waste collection vehicle 14 , and the waste collection vehicle 14 is arranged below the roller semi-finished product 1 .

[0048] Optionally, the waste removal device further comprises a fixed sliding guide rail, and the waste collection vehicle 14 is slidably mounted on the fixed sliding guide rail.

[0049] The intelligent cutting method for the spiral drum end disc plane of this embodiment is to first establish a three-dimensional model of the drum semi-finished product 1 and transport it to the control platform, then use the control platform to control the transportation equipment and the fixing equipment to fix the drum semi-finished product 1, use the 3D camera 9 and the laser positioning device 12 to build a three-dimensional model of the physical drum semi-finished product 1, and build a three-axis coordinate system through the positioning holes, thereby obtaining the spatial position points of all cutting planes, thereby building a cutting plane, and the subsequent work is to control the manipulator to move the flame cutting component 11 of the spatial point to the specified point, control the cutting manipulator to cut the plane along the line between the points, and control the three-axis rotary positioner 5 to change the welding position point of the drum semi-finished product 1 to achieve cutting of each cutting plane position point, until all the cutting planes of the drum semi-finished product 1 end disc are completely cut.

[0050] The specific implementation steps of this embodiment include:

[0051] Step 1: Use the lifting device 2 to lift the semi-finished drum product 1 through the lifting hole on the side, place it on the transport vehicle 3, and control the transport vehicle 3 to transport it to the designated location through the control platform;

[0052] Step 2: Install the material holding platform 4 on the three-axis rotary positioner 5. The square holes in the material holding platform mate with the square holes in the connection plate. The control platform controls the vertical movement of the bottom fixing block 18 and the rotation of the top fixing block 19 to secure the semi-finished roller 1. The control platform controls the first and second rotation mechanisms and the longitudinal movement mechanism of the three-axis rotary positioner 5 to change the placement direction of the semi-finished roller 1 and secure it.

[0053] Step 3: Control the laser positioning device 12 through the control platform to find the three positioning holes on the end plate plane of the semi-finished roller 1, import the drawn theoretical three-dimensional model of the semi-finished roller into the control platform, and then use the 3D camera 9 to shoot the overall structure of the roller. By fitting with the positioning holes on the three-dimensional model, a virtual three-dimensional coordinate system of the roller model can be constructed to determine the plane angle and position that needs to be cut on the end plate.

[0054] Step 4: Control the waste collection vehicle 14 through the control platform to move on the fixed sliding guide rail to below the end disc cutting position, wherein the waste collection vehicle 14 is fixed with a waste box 15 for collecting cutting waste, and then wait for the end disc cutting equipment to cut it.

[0055] Step 5: Control the end disc cutting robot 10 through the control platform to move to the boundary point of the model cutting plane in the three-dimensional coordinate system. First, turn on the flame cutting component 11 through the straight line between the points, and then move the end disc cutting robot 10 along the line between the points to cut the end disc. Repeat the line cutting between the points until the first tooth seat cutting plane is generated.

[0056] Step 6: Then, the three-axis rotary positioner 5 is controlled by the control platform to rotate the drum semi-finished product 1 to cut the next cutting surface until all the cutting planes of the end plate of the drum semi-finished product 1 are cut.

[0057] Compared with traditional manual methods, the method provided in this embodiment greatly reduces labor intensity, shortens cutting time, and improves cutting efficiency.

[0058] This embodiment ensures the cutting accuracy of each end plate cutting plane, and the entire end plate cutting process is intelligent, without the need for manual control, thereby improving the cutting accuracy.

[0059] The above description is merely a preferred embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. An intelligent cutting system for the plane of a spiral drum end plate, characterized in that: include: A three-axis rotary positioner (5), wherein a material fixing platform (4) is installed on the three-axis rotary positioner (5), and a material fixing platform square hole is opened on the material fixing platform (4); A semi-finished drum product (1), wherein a lifting hole is provided on the side wall of the semi-finished drum product (1), a square hole for a connecting plate is provided at one end of the semi-finished drum product (1), and an end plate is provided at the other end, wherein the square hole for the connecting plate is provided in coordination with the square hole for the material fixing platform; A flame cutting assembly (11) for cutting the semi-finished drum product (1); A 3D positioning device comprises a 3D camera (9), a laser positioning device (12) and a control platform, wherein the three-axis rotary positioner (5), the 3D camera (9), the laser positioning device (12) and the flame cutting assembly (11) are all connected to the control platform.

2. The system according to claim 1, wherein: A bottom fixing block (18) is provided on the outer side wall of the material fixing platform (4), and a top fixing block (19) is provided in the square hole of the fixing platform. The bottom fixing block (18) is controlled to move up and down and the top fixing block (19) is controlled to move in rotation so as to be fixedly connected to the square hole of the connection plate.

3. The system according to claim 1, wherein: The invention also includes a transport device, which includes a transport vehicle (3) and a lifting device (2). The lifting device (2) lifts the semi-finished roller product (1) through a lifting hole on the semi-finished roller product (1) and places the semi-finished roller product on the transport vehicle (3).

4. The system according to claim 1, wherein: It also includes waste removal equipment, which includes a waste collection vehicle (14). The waste collection vehicle (14) is arranged below the semi-finished roller product (1).

5. The system according to claim 4, characterized in that The waste removal device also includes a fixed sliding guide rail, and the waste collection vehicle (14) is slidably mounted in the fixed sliding guide rail.

6. A method for intelligently cutting the plane of a spiral drum end disc, applied to a system for intelligently cutting the plane of a spiral drum end disc according to any one of claims 1 to 5, characterized in that: include: Step 1: hoisting the semi-finished drum product (1) onto a transport vehicle (3) by means of a hoisting device (2), and transporting the semi-finished drum product (1) to a preset location by means of the transport vehicle (3); Step 2: Install the material fixing platform (4) on the three-axis rotary positioner (5), connect the square hole of the material fixing platform with the square hole of the connecting plate, and control the bottom fixing block (18) and the top fixing block (19) to move through the control platform to fix the roller semi-finished product (1). After fixing, change the placement direction of the roller semi-finished product (1) through the three-axis rotary positioner (5); Step 3: Control the laser positioning device (12) through the control platform to find three positioning holes on the end plate plane of the semi-finished roller (1), build a real-time three-dimensional model of the semi-finished roller (1), compare the real-time three-dimensional model with the preset three-dimensional model, and build a three-dimensional coordinate system based on the positioning holes to obtain the spatial position of the plane to be cut; Step 4: Control the waste collection vehicle (14) via the control platform to move on the fixed sliding guide rail to below the position to be cut; Step 5: Start the flame cutting assembly (11) to cut the end surface of the roller semi-finished product (1).

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