A method and device for efficient automatic machining of a cone bit leg

Abstract

The present application relates to a kind of drag bit shoe efficient automatic processing method and equipment, it relates to the technical field of automatic processing, it includes placing product in preset rough processing station, and product image information is collected;Product placement angle is determined under laser auxiliary calibration based on product image information with preset angle positioning method;According to product placement angle, angle position adjustment is carried out to product to ensure that the angle of product inclined surface reaches preset processing angle state;After completing angle position adjustment, control preset pressing mechanism is pressed to product, and the inclined surface of product is analyzed to determine rough milling processing scheme;According to rough milling processing scheme, the inclined surface of two sides of product is synchronously rough milled by controlling two milling machines equipment;Based on rough milling processing scheme and preset reference product size, determine the remaining fine milling processing amount;According to fine milling processing amount, the inclined surface of two sides of product is synchronously fine milled for second time.This application has the effect of improving product production efficiency and quality.

Description

Technical Field

[0001] This invention relates to the field of automated machining, and in particular to a highly efficient automated machining method and equipment for the tooth profile of roller cone drill bits. Background Technology

[0002] Roller cone drill bits are core rock-breaking tools in oil drilling, geological exploration, and mining. The drill bit's bearing and transmission components directly determine its service life, drilling efficiency, and downhole reliability. The drill bit is a complex, irregularly shaped forged / cast steel part, integrating multiple structural features such as journals, back of the bit, mud channels, sealing grooves, positioning holes, and wear-resistant weld overlays. Its machining must meet stringent requirements for high precision, high hardness, and high wear resistance.

[0003] The existing tooth processing line is mainly operated manually by a single machine. The transfer between processes, workpiece loading and unloading, parameter adjustment and quality inspection all rely on manual operation. The consistency of manual operation is poor, and problems such as missing processes, incorrect parameters and clamping deviations are easy to occur, which leads to low production efficiency and low product quality. Summary of the Invention

[0004] To improve product production efficiency and quality, this invention provides a highly efficient automated machining method and equipment for the tooth plate of roller cone drill bits.

[0005] In a first aspect, the present invention provides a high-efficiency automated machining equipment for roller cone drill bit teeth, which adopts the following technical solution: A highly efficient and automated method for machining the tooth profile of a roller cone drill bit includes: Place the product at the preset rough processing station and collect product image information; The product placement angle is determined based on product image information using a preset angle positioning method under laser-assisted calibration. Adjust the angle and position of the product according to the product placement angle to ensure that the angle of the product's tilt surface reaches the preset processing angle. After the angle and position adjustment is completed, the preset clamping mechanism is controlled to clamp the product, and the product's inclined surface is analyzed to determine the rough milling machining scheme; According to the rough milling machining plan, control two milling machines to perform simultaneous rough milling of the inclined surfaces on both sides of the product; The remaining finishing milling amount is determined based on the rough milling machining scheme and the preset benchmark product dimensions; According to the precision milling machining volume control, two milling machines are used to perform secondary synchronous precision milling on the inclined surfaces on both sides of the product.

[0006] By adopting the above technical solution, when the product to be processed is placed at the roughing station, the system makes precise adjustments to the product's placement angle, ensuring accurate positioning of the product in the first step of processing and avoiding impact on subsequent processing accuracy due to inaccurate product placement. After positioning is completed, the system controls two milling machines to simultaneously process the inclined surface of the product from both sides, improving processing efficiency. Simultaneous processing on both sides ensures uniform force distribution on both sides during the product processing.

[0007] Optional angle positioning methods include: Identify the journal features from the product image information, and analyze the journal features to obtain the journal end face and end face center point; A laser beam is used to irradiate the product from a preset reference position, forming a light spot feature at the center point of the end face, and an image of the light spot feature is acquired. Analyze the feature images of light spots to extract the stretched outline of the light spots when the product is tilted; The long axis stretching distance and direction of the light spot are determined based on the preset circular light spot characteristics and light spot stretching profile. The product placement angle is determined by combining the beam length extension distance, beam length extension direction, and reference orientation.

[0008] By adopting the above technical solution, since the shapes of the product blanks are different, it is difficult to define them directly based on the product shape. By identifying the center point of the end face of the product journal and irradiating the position with a laser, the irradiation direction of the laser equipment is determined according to the positioned product. The shape of the light spot generated by the laser beam on the end face can be used to determine the angular deviation of the product to be processed, thereby greatly improving the efficiency of product positioning and the accuracy of positioning and installation.

[0009] Optional, also includes: Identify the end face of the product journal from the product image information to determine whether the end face of the product journal is flat; When the end face of the product journal is not flat, collect three-dimensional data information of the product journal position; A simulated tangent plane is established based on the center point of the end face, and a three-dimensional spatial coordinate system is established with the center point of the end face as the origin. Based on the three-dimensional data information, determine the set of coordinates of the contour points on the stretched contour of the light spot from the three-dimensional spatial coordinate system; Based on the reference orientation, the set of contour point coordinates is mapped onto the simulated tangent plane to obtain the mapped light spot contour; Use the mapped spot contour as the new spot stretching contour.

[0010] By adopting the above technical solution, when the end face of the product is uneven, a simulated cutting plane is established to simulate the end face as a plane, and the light spot contour on the end face is projected and mapped onto the simulated cutting plane to form a new light spot stretching contour.

[0011] Optional, also includes: Based on three-dimensional data information and light spot stretching profile simulation, the end face of the product journal is flattened to the amount of flattening required to fully accommodate the light spot stretching profile. The required machining amount of the journal end face is determined based on three-dimensional data information and benchmark product dimensions; When the amount of flattening is not greater than the required machining amount of the journal end face, the preset grinding device is controlled to grind the journal end face according to the amount of flattening to form a flat surface on the journal end face. When the allowable flattening amount is greater than the required machining amount of the journal end face, the reference flattening amount is matched according to the required machining amount of the journal end face. The journal end face is ground according to the reference cutting amount to form a reference plane at the center point of the journal end face.

[0012] Optional methods for adjusting the angle and position include: The rotation adjustment angle is generated based on the product placement angle. Press the preset angle correction mechanism against the inclined surfaces on both sides of the product, and rotate the product according to the rotation adjustment angle; Control the laser beam to illuminate the preset target position and acquire images of the journal end face in real time; When a spot feature appears in the journal end face image, determine whether the spot feature is located at the center point of the end face. If it is located at the center point of the end face, the angle position adjustment is complete.

[0013] Optional methods for determining the rough milling machining scheme include: Collect three-dimensional data of the inclined surface of the product; Identify the first and second lowest points relative to the surface of the inclined plane from the three-dimensional data of the inclined plane; The smaller depth value between the first low point and the second low point is taken as the first stroke of the synchronous milling process of the two milling machines in the first stage. Take the larger depth value from the first low point and the second low point as the second stroke of the second stage; The larger depth value between the first and second low points is defined as the initial milling endpoint; The third stroke is determined based on the baseline product dimensions, the initial milling endpoint, and the preset finishing allowance; The rough milling machining scheme is obtained by combining the first, second, and third strokes.

[0014] Secondly, this application provides a high-efficiency automated machining equipment for roller cone drill bit teeth, which adopts the following technical solution: A high-efficiency automated machining equipment for roller cone drill bits is controlled by a high-efficiency automated machining method for roller cone drill bits. It includes a conveyor track that transports materials along the machining direction and has roughing and finishing stations; a milling machine located on both sides of the conveyor track for milling the inclined surfaces of products on the conveyor track; and a drilling machine for drilling holes in the inclined surfaces of the products. The milling machine includes a milling cutter head, and the drilling machine includes a drilling drill bit. During operation, the milling cutter head and the drilling drill bit are either away from or close to the product and are always perpendicular to the inclined surfaces of the product. The roughing station is equipped with a first fixing device for fixing the product for initial processing, and the finishing station is equipped with a second fixing device for fixing the product for secondary processing.

[0015] By adopting the above technical solution, and by setting up two milling machines and two drilling machines on both sides of the conveyor track, the milling machines and drilling machines can simultaneously process the inclined surfaces on both sides of the product when the product moves to the processing position, thereby improving processing efficiency.

[0016] Optionally, the first fixing device includes a bottom support base that supports the outer wall of the product from bottom to top, a limiting seat for limiting the installation of the product's journal, and a pressing mechanism for pressing the inner wall of the product. The clamping mechanism includes a drive seat, a sliding block horizontally mounted on the drive seat, and a drive unit that drives the sliding block to move horizontally; the sliding block has a clamping protrusion, which moves horizontally and clamps against the inner wall of the product after the product is mounted on the bottom support.

[0017] Optionally, an angle correction mechanism for adjusting the installation angle of the product on the rough machining station is provided on one side; the angle correction mechanism includes an adjustment head that is lifted and installed above the rough machining station and an adjustment drive mechanism that drives the adjustment head to rise and fall; the adjustment head has adjustment grooves that are adapted to the inclined surfaces on both sides of the product.

[0018] Optionally, the second fixing device includes a first support member supporting one side of the outer wall of the product, a second support member supporting the other end of the outer wall of the product, a clamping member cooperating with the first support member to clamp the journal portion of the product, and a quick-pressing assembly cooperating with the second support member to press against the inner wall of the product from top to bottom.

[0019] In summary, this application includes at least one of the following beneficial technical effects: The system first finely adjusts the product's placement angle to avoid affecting subsequent processing accuracy due to inaccurate product placement. After positioning is completed, the system controls two milling machines to simultaneously process the inclined surface of the product from both sides, improving processing efficiency. By identifying the center point of the end face of the product's journal and irradiating that position with a laser, the shape of the laser spot generated on the end face can be used to determine the angular offset of the product to be processed, thereby greatly improving the efficiency of product positioning and the accuracy of positioning and installation. When the product end face is uneven, a simulated cutting plane is established to simulate the end face as a plane, and the light spot contour on the end face is projected and mapped onto the simulated cutting plane to form a new light spot stretching contour. Attached Figure Description

[0020] Figure 1 This is a structural diagram of the tooth palm product according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a high-efficiency automated machining equipment for roller cone drill bits according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the conveying track according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first fixing device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the angle correction mechanism according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the second fixing device according to an embodiment of the present invention.

[0021] The parts referred to by the numbers in the above attached figures are as follows: 11. Tooth body; 12. Journal; 13. Inclined surface; 14. Inner circular channel; 2. Conveyor track; 21. Conveyor base; 22. Conveyor platform; 23. Conveyor drive structure; 3. Milling machine; 31. Milling cutter head; 32. Milling machine drive base; 4. Drilling equipment; 41. Drill bit; 42. Drilling drive base; 5. Roughing station; 6. Finishing station; 7. First fixing device; 71. Bottom support; 711. Snap-in type Support base; 712, rod-type support base; 72, limiting base; 721, limiting groove; 73, clamping mechanism; 731, drive base; 732, sliding block; 733, drive unit; 734, clamping protrusion; 8, second fixing device; 81, first support member; 82, second support member; 83, clamping member; 831, clamping claw; 84, quick clamping assembly; 841, rotating plate; 9, angle correction mechanism; 91, adjusting head; 92, adjustment drive mechanism; 93, adjustment module; 94, adjustment groove. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0023] This application discloses a high-efficiency automated machining equipment for roller cone drill bit teeth.

[0024] Reference Figure 1 The product of this embodiment is a toothed plate, which includes a toothed plate body 11 and a journal 12 integrally connected to the end of the toothed plate body 11. The toothed plate body 11 is a thick arc plate, thus it has two inclined surfaces 13 and an axial inner circular channel 14. The toothed plate is processed by a high-efficiency automated machining equipment using a roller cone drill bit, mainly targeting the two inclined surfaces 13.

[0025] Reference Figure 1 and Figure 2 The high-efficiency automated machining equipment for roller cone drill bits includes a conveyor track 2, a milling machine 3, and a drilling machine 4. The conveyor track 2 transports the product to be processed so that it passes sequentially through the milling machine 3 and the drilling machine 4. The milling machine 3 is used to mill the inclined surface 13 of the product. The drilling machine 4 is used to drill holes in the inclined surface 13 of the product.

[0026] The milling machine device 3 includes a milling cutter head 31 and a milling machine drive base 32. The milling cutter head 31 is slidably mounted on the milling machine drive base 32. Specifically, the milling machine drive base 32 is a motor-driven structure, which can drive the milling cutter head 31 horizontally closer to or further away from the conveyor track 2 to adjust the distance between the milling cutter head 31 and the conveyor track 2. At the same time, the milling machine drive base 32 can drive the milling cutter head 31 tilted closer to or further away from the inclined surface 13 of the product to be processed, thereby processing the product.

[0027] The drilling device 4 includes a drilling bit 41 and a drilling drive base 42. The drilling bit 41 is slidably mounted on the drilling drive base 42. Similar to the milling machine device 3, the drilling drive base 42 can drive the drilling bit 41 horizontally to or away from the conveyor track 2, and can also drive the drilling bit 41 tilted to or away from the product to be processed, thereby performing a drilling operation on the inclined surface 13 of the product to be processed.

[0028] There are two milling machines 3 and two drilling machines 4, symmetrically installed on both sides of the conveyor track 2. This structure allows for targeted processing of the inclined surfaces 13 on both sides of the product to be processed, improving processing efficiency.

[0029] In this embodiment, the milling cutter head 31 and the drilling bit 41 are always perpendicular to the product to be processed, so that when the product to be processed is placed and the angle is fixed, the angle of the milling cutter head 31 and the drilling bit 41 does not need to be adjusted twice.

[0030] Reference Figure 1 , Figure 2 and Figure 3 The conveying track 2 includes a conveying base 21, a conveying platform 22, and a conveying drive structure 23. The conveying platform 22 is slidably mounted on the conveying base 21. The conveying drive structure 23 is used to drive the conveying platform 22 to move horizontally. The conveying drive structure 23 is a combination drive structure of a motor and a screw, or it can be a cylinder structure, or other mechanism that can drive the conveying platform 22 to move horizontally.

[0031] To ensure the product is held in place during processing, the conveyor platform 22 has a roughing station 5 and a finishing station 6. A first fixing device 7 is installed on the roughing station 5, and a second fixing device 8 is installed on the finishing station 6. At the roughing station 5, the product undergoes initial milling of the inclined surface 13 and drilling of holes in the inclined surface 13. At the finishing station 6, the product undergoes secondary finishing milling of the inclined surface 13.

[0032] When the conveyor platform 22 moves, the roughing station 5 and the finishing station 6 can move sequentially to the positions of the milling machine 3 and the drilling machine 4.

[0033] Reference Figure 1 and Figure 4 The first fixing device 7 includes a bottom support 71, a limiting seat 72, and a clamping mechanism 73. The bottom support 71 supports the product to be processed from bottom to top, and includes a snap-fit ​​support 711 that provides the main support and a rod-type support 712 that provides auxiliary support. The snap-fit ​​support 711 supports the outer surface of the toothed body 11 and has a snap-fit ​​groove for the toothed body 11 to snap into. Since the outer surface of the toothed body 11 is an arc surface, the toothed body 11 can rotate axially within the snap-fit ​​groove to adjust its angle under external force. The rod-type support 712 is a metal rod structure and is fixedly installed on the conveying platform 22 by screws. When the product to be processed is placed on the snap-fit ​​support 711, the rod-type support 712 provides auxiliary support for the product to prevent it from falling off.

[0034] The limiting seat 72 is fixedly installed on the conveying platform 22 and located on one side of the bottom support seat 71. A limiting groove 721 is provided on it. The limiting groove 721 is used for limiting the installation of the journal 12 of the product, thereby restricting the axial horizontal movement of the product to be processed.

[0035] The clamping mechanism 73 is fixedly installed on the conveying platform 22 and located on the other side of the bottom support 71. The clamping mechanism 73 includes a drive base 731, a sliding block 732, and a drive unit 733. The sliding block 732 is slidably installed on the drive base 731, and the drive unit 733 drives the sliding block 732 to move horizontally. In this embodiment, the drive unit 733 is a cylinder structure. The sliding block 732 has a horizontally protruding clamping protrusion 734. When the product to be processed is installed on the bottom support 71, the drive unit 733 drives the sliding block 732 to move, and the clamping protrusion 734 inserts into the inner circular channel 14 of the tooth body 11, thereby clamping the product to be processed.

[0036] Reference Figure 1 , Figure 2 and Figure 5 In this embodiment, an angle correction mechanism 9 is provided on one side of the conveyor track 2. The angle correction mechanism 9 can be fixed on the ground or fixed on the roughing station 5 of the conveyor platform 22 and move with the conveyor platform 22. The angle correction mechanism 9 is used to adjust the angle of the product to be processed mounted on the bottom support 71 so that the inclined surface 13 of the product can be perpendicular to the milling cutter head 31 and the drilling bit 41.

[0037] The angle correction mechanism 9 includes an adjustment head 91 and an adjustment drive mechanism 92. The adjustment drive mechanism 92 is a combination drive structure of a motor and a screw. The adjustment head 91 is mounted on the screw of the adjustment drive mechanism 92, thereby enabling vertical lifting and lowering on the adjustment drive mechanism 92. The adjustment head 91 is located directly above the bottom support base 71, and an adjustment module 93 is rotatably mounted on the adjustment head 91. The adjustment module 93 has adjustment slots 94 adapted to the inclined surfaces 13 on both sides of the product. In this embodiment, the adjustment module 93 can be driven by a micro motor.

[0038] When the product to be processed is installed on the bottom support 71, the adjustment drive mechanism 92 drives the adjustment head 91 to descend and abut against the inclined surface 13 of the product to be processed. At this time, the adjustment module 93 can adjust the tooth body 11 to the preset processing angle.

[0039] During the process of adjusting the product by the angle correction mechanism 9, the product is initially fixed at the same time, so that the clamping mechanism 73 can clamp the product to be processed.

[0040] Reference Figure 1 , Figure 2 and Figure 6 After the product to be processed is rough-machined at the rough machining station 5 and the journal 12 is machined by external equipment, it is transferred and installed to the finishing machining station 6, and fixed by the second fixing device 8 for finishing of the inclined surface 13.

[0041] The second fixing device 8 includes a first support member 81, a second support member 82, a clamping member 83, and a quick-pressing assembly 84.

[0042] The first support member 81 and the second support member 82 are respectively supported at both ends of the outer surface of the tooth body 11 of the product to be processed. Both the first support member 81 and the second support member 82 include a cylinder structure to adjust the support height of the product on the first support member 81 and the second support member 82.

[0043] The clamping member 83 is used to clamp the journal 12 portion of the product to be processed, and it has clamping claws 831 adapted to the journal 12 portion.

[0044] The quick-clamping assembly 84 includes a rotating plate 841 rotatably mounted on the finishing station 6. One end of the rotating plate 841 is pushed by an electric push rod to rotate along the rotation axis, and the other end of the rotating plate 841 presses against the inner wall of the product to be processed from top to bottom.

[0045] Based on the same inventive concept, embodiments of the present invention provide a method for efficient and automated machining of the tooth plate of a roller cone drill bit.

[0046] A highly efficient and automated method for machining the tooth profile of a roller cone drill bit includes the following steps: Step S1: Place the product in the preset rough processing station 5 and collect product image information.

[0047] Product image information refers to images captured of the toothed product placed on the roughing station 5. An industrial camera is installed on one side of the conveyor rail 2. When the product to be processed is placed on the preset roughing station 5, the industrial camera can simultaneously capture images of the product. The toothed product can be identified from the product image information.

[0048] Step S2: Determine the product placement angle using a preset angle positioning method under laser-assisted calibration based on the product image information.

[0049] The product placement angle refers to the vector angle that needs to be adjusted to change the product from its current placement angle to a preset processing angle. The processing angle is the angle state of the product during processing, that is, ensuring that the inclined surface 13 of the product is perpendicular to the milling cutter head 31 of the milling machine 3.

[0050] The current placement angle of the product at the roughing station 5 can be identified from the product image information. Under laser-assisted calibration, the system uses an angle positioning method to obtain the product placement angle. The specific angle positioning method will not be described in detail here, but will be introduced in detail in subsequent embodiments.

[0051] Step S3: Adjust the angle and position of the product according to the product placement angle to ensure that the angle of the product tilt surface 13 reaches the preset processing angle state.

[0052] In this embodiment, after determining the product placement angle, the system controls the angle correction mechanism 9 to adjust the product's angle position according to the product placement angle. The method of adjusting the product's angle position through the angle correction mechanism 9 will not be described in detail here, but will be explained in detail in subsequent embodiments.

[0053] Step S4: After completing the angle and position adjustment, control the preset clamping mechanism 73 to clamp the product, and analyze the inclined surface 13 of the product to determine the rough milling machining scheme.

[0054] After the angle of the product to be processed is adjusted, the system controls the clamping mechanism 73 to clamp the product to prevent it from loosening during subsequent processing. After clamping the product, the system performs data analysis on the inclined surface 13 of the product and generates a rough milling machining plan based on the analyzed data. The rough milling machining plan is the milling method used by the milling machine 3 to mill the inclined surface 13 of the product. The specific method for generating the rough milling machining plan will not be described in detail here, but will be introduced in detail in subsequent embodiments.

[0055] Step S5: Control the two milling machines 3 to perform simultaneous rough milling of the inclined surfaces 13 on both sides of the product according to the rough milling machining plan.

[0056] According to the rough milling plan, the inclined surface 13 of the tooth palm is rough milled for the first time using a milling machine.

[0057] Step S6: Determine the remaining finishing milling amount based on the rough milling machining scheme and the preset reference product dimensions.

[0058] The reference product dimensions refer to the standard dimensional parameters specified in the tooth design drawings, which are the fixed reference parameters for the product.

[0059] The remaining finishing milling allowance refers to the material thickness that still needs to be milled after rough milling on the inclined surface 13 of the product.

[0060] The dimensions of the product after rough milling can be determined from the rough milling plan. These dimensions are then compared with the actual reference product dimensions to calculate the remaining finishing milling amount.

[0061] Step S7: Control the two milling machines 3 to perform secondary synchronous precision milling on the inclined surfaces 13 on both sides of the product according to the precision milling amount.

[0062] Based on the remaining fine milling machining amount, a second fine milling machining is performed on the inclined surface 13 of the tooth palm to complete the high-precision machining.

[0063] The angle positioning method includes the following steps: Step S200: Identify the product journal features from the product image information, and analyze the product journal features to obtain the product journal end face and end face center point.

[0064] Journal 12 is a fixed structure in the toothed palm product, and its features can be directly identified from the product image information. The end face of the journal refers to the end plane of the toothed palm journal 12. The center point of the end face refers to the geometric center of the end face of the toothed palm journal 12. Since the end face and center point of the end face are fixed structures on the journal 12, their features can be directly identified from the product image information.

[0065] Step S201: Irradiate the product with a laser beam from a preset reference position and form a light spot feature at the center point of the end face, and collect the light spot feature image.

[0066] The reference orientation is the fixed directional position of the laser emitting device, set by technicians according to the product's processing angle. When the laser device at the reference orientation emits laser light onto a product at its processing angle, the laser beam is perpendicularly irradiated onto the center point of the end face of the product's journal 12, forming a perfectly circular spot. When irradiating a product whose angle has not yet been adjusted, the laser device is moved parallel to the reference orientation so that the laser beam irradiates the center point of the product's end face, forming the spot feature. Here, the position of the laser device after parallel movement is still defined as the reference orientation, and its irradiation direction does not change. Whether the laser device needs to move parallel depends on whether the center point of the product's journal end face is on the rotation axis.

[0067] A spot feature image refers to a spot image obtained by capturing the spot features of the end face of a product to be processed using an industrial camera.

[0068] Step S202: Analyze the light spot feature image and extract the light spot stretching contour when the light spot is stretched due to the tilt of the product placement.

[0069] When the product to be processed is placed on the roughing station 5, due to the angular deviation between its placement and the processing angle, the laser beam illuminating the center point of the journal 12 end face is not perpendicular to the end face. This results in a non-circular laser spot on the end face, forming an elliptical spot stretched in a certain direction. The stretched laser spot profile is the outer contour of this elongated elliptical spot. The stretched laser spot profile can be obtained by image recognition and analysis of the edges of the laser spot features from the laser spot feature image.

[0070] Step S203: Determine the long axis stretching distance and direction of the light spot based on the preset circular light spot characteristics and light spot stretching profile.

[0071] The circular spot feature refers to the spot feature produced when a laser beam emitted by a laser device illuminates the end face of a product at a processing angle. This circular spot feature includes the circular radius value of the spot feature, which is also the beam radius of the laser beam.

[0072] Select the point furthest from the center point from the stretched beam profile; this point is also the endpoint of the major axis of the ellipse. Then, simulate a circular beam feature on the end face of journal 12 and find the corresponding point from the circular beam feature. The beam's major axis stretching distance is the distance between these two points, and the beam's major axis stretching direction is the direction in which the point in the stretched beam profile deviates from its original position. The beam's major axis stretching distance and direction can be calculated based on the circular beam feature and the stretched beam profile.

[0073] Step S204: Determine the product placement angle by combining the beam length extension distance, beam length extension direction, and reference orientation.

[0074] Since the product to be processed at rough machining station 5 is a rough blank material with an irregular shape, only the center point of the end face of journal 12 can be identified, but the normal of the end face center point cannot be accurately determined. Therefore, laser irradiation is used, and the product placement angle is determined by combining the long axis stretching distance of the laser spot, the long axis stretching direction of the laser spot, and the reference orientation. In this embodiment, the position of the reference orientation is determined, so the fixed distance between the laser device and the product can be determined. Combined with the long axis stretching distance of the laser spot, the offset angle of the product can be calculated. Combined with the long axis stretching direction of the laser spot, the product placement angle can be obtained.

[0075] It also includes the following steps: In this embodiment, the flatness of the end face of the journal 12 of the product to be processed is identified, and special treatment is given for cases where the end face is not flat.

[0076] Step S210: Identify the end face of the product journal from the product image information to determine whether the end face of the product journal is flat.

[0077] By performing image recognition analysis on the end face of the product journal from product image information, and judging the positional distribution of each point on the end face, it can be determined whether the end face is flat.

[0078] Step S211: When the end face of the product journal is not a plane, collect the three-dimensional data information of the product journal 12.

[0079] If the end face of the product journal is flat, then the process shall be carried out in accordance with the methods of steps S200 to S204.

[0080] If the end face of the product's journal is not flat, i.e., it is curved, the laser spot feature formed by the laser irradiation on the end face will be further stretched due to the curvature. The parameters of the journal 12 part are obtained by scanning and photographing the product under processing using an industrial camera, facilitating the analysis of its features. The industrial camera here is a 3D inspection device, such as a 3D laser scanner. The 3D data information refers to the 3D parameters obtained from the scanning and photographing of the journal 12 part, including the 3D coordinates of each point on the surface of the journal 12 part and the surface morphology.

[0081] Step S212: Establish a simulated tangent plane based on the center point of the end face and tangent to the center point of the end face, and establish a three-dimensional spatial coordinate system with the center point of the end face as the origin.

[0082] The simulated tangent plane refers to a virtual plane established by the system based on the data of the journal 12. This virtual plane is tangent to the center point of the end face. The simulated tangent plane can be used as a reference plane for subsequent calculations, and it is consistent with the end face condition when the product journal end face is flat.

[0083] While establishing the simulated cutting plane, a three-dimensional spatial coordinate system is also established to facilitate the digitization of coordinate data for each position on the end face of the product journal.

[0084] Step S213: Determine the set of contour point coordinates on the stretched contour of the light spot from the three-dimensional spatial coordinate system based on the three-dimensional data information.

[0085] The set of contour point coordinates refers to the set of coordinates of each point on the characteristic contour of the laser spot formed by the laser beam illuminating the curved surface of the journal 12. Based on the three-dimensional data information, the points on the laser spot contour are converted into a set of coordinates in a coordinate system.

[0086] Step S214: Based on the reference orientation, map the set of contour point coordinates onto the simulated tangent plane to obtain the mapped light spot contour.

[0087] The mapped spot profile refers to the profile of the spot features formed by projecting the set of contour point coordinates of the spot profile on the curved surface of the journal 12 onto the simulated tangent plane according to the direction of the laser beam.

[0088] Step S215: Use the mapped spot contour as the new spot stretching contour.

[0089] Replace the original light spot outline with the projection-corrected light spot outline and continue to calculate the angle. At this time, the angle calculation reverts to the calculation method of planar light spots.

[0090] It also includes the following steps: Step S220: Based on the three-dimensional data information and the simulation of the light spot stretching profile, flatten the end face of the product journal to the amount of flattening required to fully accommodate the light spot stretching profile.

[0091] The allowable flattening amount refers to the amount of grinding required to flatten the end face of the product journal to accommodate the light spot. When the end face of the product journal is curved, the coordinates of each point on the stretching profile of the light spot can be obtained from the three-dimensional data information. From all the coordinates, the coordinate point farthest from the simulated cutting plane is selected. The vertical distance between this coordinate point and the simulated cutting plane is the allowable flattening amount.

[0092] Step S221: Determine the required machining amount of the journal end face based on the three-dimensional data information and the reference product dimensions.

[0093] The required machining allowance for the journal end face refers to the total amount that must be machined on the journal 12 end face as required by the drawing. The coordinates of the center point of the actual product's end face can be identified from the 3D data. Combined with the dimensions of the reference product, the coordinates of the center point of the end face after machining can be obtained. The distance between the coordinates of the two center points is the required machining allowance for the journal end face.

[0094] Step S2220: When the amount of flattening is not greater than the required machining amount of the journal end face, control the preset grinding device to grind the end face of the journal 12 according to the amount of flattening to form a flat surface on the end face of the journal 12.

[0095] If the allowable amount of planing is not greater than the required machining amount of the journal end face, it means that grinding the end face to accommodate the planing amount will not affect the actual dimensions of the product, and the spot characteristics can also appear completely on the ground end face of journal 12. At this time, the system controls the grinding device to grind the end face of journal 12 according to the allowable planing amount.

[0096] Step S2230: When the amount of flattening is greater than the required machining amount of the journal end face, match the reference flattening amount according to the required machining amount of the journal end face.

[0097] If the amount of flattening that can be accommodated is greater than the amount of machining required for the journal end face, it means that even if the system grinds the end face according to the amount of machining required for the journal end face, the end face after grinding cannot fully accommodate the spot feature. In this case, the large flat surface will no longer be processed according to the amount of flattening that can be accommodated, but only a small flat surface with a smaller range needs to be processed for reference.

[0098] The reference flattening amount is a compromise grinding amount that is matched by technicians based on the required machining amount of the journal end face and is limited by the total machining amount.

[0099] Step S2231: Grind the end face of journal 12 according to the reference flattening amount to form a reference plane at the center point of the end face of journal 12.

[0100] In this embodiment, when the end face is polished according to the reference flattening amount, a small plane will be formed on the end face. This plane can be used as a reference plane for the simulated cutting plane of the center point of the end face.

[0101] The method for adjusting the angle and position includes the following steps: Step S30: Generate the rotation adjustment angle based on the product placement angle.

[0102] The rotation adjustment angle refers to the angle value required to align the teeth, and is a control parameter of the angle correction mechanism 9. The rotation adjustment angle value is consistent with the product placement angle. During control, the system converts the product placement angle into a rotation adjustment angle that can be adapted to control the angle correction mechanism 9.

[0103] Step S31: Press the preset angle correction mechanism 9 against the inclined surfaces 13 on both sides of the product, and rotate the product according to the rotation adjustment angle.

[0104] After determining the rotation adjustment angle, the system controls the adjustment head 91 of the angle correction mechanism 9 to descend and abut against the product. The two side planes of the adjustment module 93 of the adjustment head 91 abut against the inclined surfaces 13 on both sides of the product. Then the system outputs the rotation adjustment angle to the angle correction mechanism 9, and the adjustment module 93 corrects and adjusts the product to be processed.

[0105] Step S32: Control the laser beam to illuminate the preset target position and acquire the journal end face image in real time.

[0106] In this embodiment, when the angle is adjusted by the angle correction mechanism 9, a laser is used for auxiliary calibration. The laser device emits a laser beam towards a preset target position, which is the location of the center point of the end face of the journal 12 after the product has completed the angle adjustment. If the product has completed the angle adjustment, a laser spot will appear on the center point of the end face of the product.

[0107] A journal end face image refers to an image captured by an industrial camera that follows the product as it rotates in real time, photographing the end face of the product. If a laser spot appears on the product's end face, this spot feature can be identified in the journal end face image.

[0108] Step S33: When a spot feature appears in the journal end face image, determine whether the spot feature is located at the center point of the end face.

[0109] By detecting the presence of light spot features in the journal end face image, it can be determined whether the product is about to be adjusted into position. If no light spot features appear, the adjustment continues; otherwise, the specific location of the light spot features is determined, i.e., whether the light spot features are located at the center point of the end face.

[0110] Step S34: If it is located at the center point of the end face, the angle position adjustment is completed.

[0111] If the light spot feature appears at the center point of the end face, it indicates that the product angle adjustment is complete and subsequent processing can begin.

[0112] The method for determining the rough milling machining scheme includes the following steps: Step S40: Collect three-dimensional data of the inclined surface 13 of the product.

[0113] The three-dimensional data of the inclined surface refers to the three-dimensional data of the inclined surface 13 of the product captured by an industrial camera, including the data of each position point on the surface of the inclined surface 13. The method for acquiring the three-dimensional data of the inclined surface is the same as step S211.

[0114] Step S41: Identify the first low point and the second low point relative to the surface of the inclined surface 13 on both sides of the inclined surface 13 from the three-dimensional data of the inclined surface.

[0115] The first and second low points are the two locations with the greatest milling depth on the inclined surfaces 13 on both sides of the product. The three-dimensional data of the inclined surfaces is analyzed by collecting the position coordinates of all positions on both sides of the inclined surfaces 13 and calculating the distance between each position and a preset reference plane. The point with the largest distance is then selected; this point is the first and second low point. The reference plane is a virtual plane set by the technicians, parallel to the actual inclined surfaces 13 of the product.

[0116] Step S42: Take the smaller depth value from the first low point and the second low point as the first stroke of the first stage of synchronous milling machining of the two milling machines 3.

[0117] In this embodiment, two milling machines 3 are used to simultaneously process the inclined surfaces 13 on both sides of the product. In order to ensure the stability of the workpiece during processing, it is necessary to ensure that the milling machines 3 on both sides are milled with the same feed parameters, so as to avoid uneven stress on the workpiece.

[0118] First, the smaller depth value between the first and second low points is selected as the feed endpoint for the first stage, and the inclined surfaces 13 on both sides are milled for the first time. The first stroke is the stroke of the milling machine 3 to perform the first milling operation on the inclined surfaces 13.

[0119] Step S43: Take the larger depth value from the first low point and the second low point as the second stroke of the second stage.

[0120] The larger depth value between the first and second low points is then selected as the feed endpoint for the second stage, and the inclined surfaces 13 on both sides are milled a second time. The second stroke is the stroke of the milling machine 3 for the second milling of the inclined surfaces 13.

[0121] Step S44: Define the larger depth value between the first low point and the second low point as the initial milling endpoint.

[0122] The initial milling endpoint refers to the endpoint position after both inclined surfaces 13 on both sides of the product have been milled. This endpoint position is the greater depth value between the first low point and the second low point.

[0123] Step S45: Determine the third stroke based on the reference product dimensions, the initial milling end point, and the preset finishing allowance.

[0124] The finishing allowance refers to the redundancy set by the technicians for the milling machine to perform secondary milling finishing on the product.

[0125] There is still a distance between the initial milling endpoint and the actual inclined surface 13 of the product that needs to be milled further. This distance is the difference between the reference product size and the initial milling endpoint. This difference, along with the finishing allowance, is used to calculate the third stroke. The third stroke is the stroke of the milling machine 3 to perform the third milling operation on the inclined surface 13.

[0126] Step S46: Combine the first stroke, the second stroke, and the third stroke to obtain the rough milling machining scheme.

[0127] The rough milling process is the process in which the milling machine 3 performs milling according to the first stroke, the second stroke, and the third stroke.

[0128] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A highly efficient and automated method for machining the tooth profile of a roller cone drill bit, characterized in that, include: Place the product in the preset rough processing station (5) and collect product image information; The product placement angle is determined based on product image information using a preset angle positioning method under laser-assisted calibration. Adjust the angle and position of the product according to the product placement angle to ensure that the angle of the product tilt surface (13) reaches the preset processing angle state; After completing the angle and position adjustment, control the preset clamping mechanism (73) to clamp the product, and analyze the inclined surface (13) of the product to determine the rough milling machining scheme; According to the rough milling machining scheme, control two milling machines (3) to perform simultaneous rough milling of the inclined surfaces (13) on both sides of the product; The remaining finishing milling amount is determined based on the rough milling machining scheme and the preset benchmark product dimensions; According to the precision milling amount, the two milling machines (3) perform secondary synchronous precision milling on the inclined surfaces (13) on both sides of the product; Angle positioning methods include: Identify the journal features from the product image information, and analyze the journal features to obtain the journal end face and end face center point; A laser beam is used to irradiate the product from a preset reference position, forming a light spot feature at the center point of the end face, and an image of the light spot feature is acquired. Analyze the feature images of light spots to extract the stretched outline of the light spots when the product is tilted; The long axis stretching distance and direction of the light spot are determined based on the preset circular light spot characteristics and light spot stretching profile. The product placement angle is determined by combining the beam length extension distance, beam length extension direction, and reference orientation. The methods for determining the rough milling machining scheme include: Collect the three-dimensional data of the inclined surface (13) of the product; Identify the first and second low points relative to the surface of the inclined surface (13) on both sides of the three-dimensional data of the inclined surface; The smaller depth value between the first low point and the second low point is taken as the first stroke of the first stage of synchronous milling processing of the two milling machines (3); Take the larger depth value from the first low point and the second low point as the second stroke of the second stage; The larger depth value between the first and second low points is defined as the initial milling endpoint; The third stroke is determined based on the baseline product dimensions, the initial milling endpoint, and the preset finishing allowance; The rough milling machining scheme is obtained by combining the first, second, and third strokes.

2. The efficient and automated machining method for the tooth plate of a roller cone drill bit according to claim 1, characterized in that, Also includes: Identify the end face of the product journal from the product image information to determine whether the end face of the product journal is flat; When the end face of the product journal is not flat, collect three-dimensional data information of the product journal (12) part; A simulated tangent plane is established based on the center point of the end face, and a three-dimensional spatial coordinate system is established with the center point of the end face as the origin. Based on the three-dimensional data information, determine the set of coordinates of the contour points on the stretched contour of the light spot from the three-dimensional spatial coordinate system; Based on the reference orientation, the set of contour point coordinates is mapped onto the simulated tangent plane to obtain the mapped light spot contour; Use the mapped spot contour as the new spot stretching contour.

3. The efficient and automated machining method for the tooth plate of a roller cone drill bit according to claim 2, characterized in that, Also includes: Based on three-dimensional data information and light spot stretching profile simulation, the end face of the product journal is flattened to the amount of flattening required to fully accommodate the light spot stretching profile. The required machining amount of the journal end face is determined based on three-dimensional data information and benchmark product dimensions; When the amount of flattening is not greater than the required machining amount of the journal end face, the preset grinding device is controlled to grind the end face of the journal (12) according to the amount of flattening to form a flat surface on the end face of the journal (12). When the allowable flattening amount is greater than the required machining amount of the journal end face, the reference flattening amount is matched according to the required machining amount of the journal end face. The end face of the journal (12) is ground according to the reference flattening amount to form a reference plane at the center point of the end face of the journal (12).

4. The efficient and automated machining method for the tooth plate of a roller cone drill bit according to claim 1, characterized in that, Methods for adjusting angle and position include: The rotation adjustment angle is generated based on the product placement angle. Press the preset angle correction mechanism (9) against the inclined surfaces (13) on both sides of the product, and rotate the product according to the rotation adjustment angle; Control the laser beam to illuminate the preset target position and acquire images of the journal end face in real time; When a spot feature appears in the journal end face image, determine whether the spot feature is located at the center point of the end face. If it is located at the center point of the end face, the angle position adjustment is complete.

5. A high-efficiency automated machining equipment for roller cone drill bit teeth, controlled by a high-efficiency automated machining method for roller cone drill bit teeth as described in any one of claims 1 to 4, characterized in that, The system includes a conveyor track (2) that conveys products along the processing direction and has a roughing station (5) and a finishing station (6), a milling machine (3) located on both sides of the conveyor track (2) for milling the inclined surface (13) of the product on the conveyor track (2), and a drilling machine (4) for drilling holes in the inclined surface (13) of the product; the milling machine (3) includes a milling cutter head (31), and the drilling machine (4) includes a drilling drill bit (41). The milling cutter head (31) and the drilling drill bit (41) are either away from or close to the product during operation and are always perpendicular to the inclined surface (13) of the product. The roughing station (5) is provided with a first fixing device (7) for fixing the product for initial processing, and the finishing station (6) is provided with a second fixing device (8) for fixing the product for secondary processing.

6. The high-efficiency automated machining equipment for roller cone drill bit teeth as described in claim 5, characterized in that, The first fixing device (7) includes a bottom support seat (71) that supports the outer wall of the product from bottom to top, a limiting seat (72) for limiting the installation of the journal (12) of the product, and a pressing mechanism (73) for pressing the inner wall of the product. The clamping mechanism (73) includes a drive seat (731), a sliding block (732) horizontally mounted on the drive seat (731), and a drive unit (733) that drives the sliding block (732) to move horizontally; the sliding block (732) has a clamping protrusion (734), which moves horizontally and clamps against the inner wall of the product after the product is mounted on the bottom support seat (71).

7. The high-efficiency automated machining equipment for roller cone drill bit teeth as described in claim 6, characterized in that, An angle correction mechanism (9) for adjusting the installation angle of the product on the rough machining station (5) is provided on one side of the rough machining station (5); the angle correction mechanism (9) includes an adjustment head (91) that is lifted and installed above the rough machining station (5) and an adjustment drive mechanism (92) that drives the adjustment head (91) to rise and fall; the adjustment head (91) has an adjustment groove (94) that is adapted to the inclined surfaces (13) on both sides of the product.

8. The high-efficiency automated machining equipment for roller cone drill bit teeth as described in claim 5, characterized in that, The second fixing device (8) includes a first support member (81) supporting one side of the outer wall of the product, a second support member (82) supporting the other end of the outer wall of the product, a clamping member (83) cooperating with the first support member (81) to clamp the journal (12) of the product, and a quick clamping assembly (84) cooperating with the second support member (82) to press against the inner wall of the product from top to bottom.

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