Flash cutting device

Abstract

The present application belongs to the technical field of wind power blade production, and particularly relates to a flash cutting device. The flash cutting device comprises: a moving base adapted to move along the length direction of the flash and output a Z-axis coordinate according to the distance of movement along the direction; an adjusting mechanism arranged on the moving base, connected with a cutting mechanism and a pair of scanning mechanisms arranged in an upper and lower interval, and the pair of scanning mechanisms are located in front of the cutting mechanism; the adjusting mechanism is adapted to obtain the body flash inflection point and the straight section and inclined section inflection point according to the X-axis coordinate and Y-axis coordinate output by the scanning mechanism and the Z-axis coordinate output by the moving base, and then obtain the cutting points located at the straight section of the flash, so as to adjust the cutting mechanism and make the cutting mechanism move along the cutting points. The flash cutting device constructs a moving path which is not affected by the shape of the flash.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine blade manufacturing technology, specifically relating to a flash cutting device. Background Technology

[0002] The publication (announcement) number CN117656170A discloses a flash cutting system for wind turbine blades. The method for constructing the band saw's travel path is as follows: before starting the cutting, the position of the band saw is manually adjusted so that the band saw is aligned with the planar part of the flash. The intersection point on the boundary line between the plane and the slope of the flash is obtained through an industrial vision camera. If there is a difference in the X-axis coordinate between the next intersection point and the current intersection point, the band saw is adjusted according to the difference.

[0003] The method for constructing the band saw's travel path is based on the fact that the plane of the flash is always parallel to the horizontal plane, as shown in the attached figure. Figure 1 As shown, when the plane of the burr is always parallel to the horizontal plane, if there is no difference in the X-axis coordinates of the next intersection point and the current intersection point, it indicates that the burr segment is straight and no band saw adjustment is needed. If there is a difference in the X-axis coordinates of the next intersection point and the current intersection point, it indicates that the burr segment is curved, and the band saw should be adjusted according to the difference. This way, the band saw can always keep aligned with the flat part of the burr. When the shape of the burr is more complex, such as with... Figure 2 When there is a part of the plane of the flash that is not parallel to the horizontal plane, the difference between the X-axis coordinates of the last intersection point and the current intersection point cannot accurately reflect the direction of the flash. If the band saw is still adjusted using this difference in this case, the band saw will cut too little flash by cutting too much outward, or cut the blade body too much inward.

[0004] Therefore, this application proposes a flash cutting device capable of handling flash with complex shapes. Summary of the Invention

[0005] The purpose of this invention is to provide a flash cutting device to cut flash of complex shapes.

[0006] To address this, the present invention provides a flash cutting device, comprising: a movable base adapted to move along the length direction of the flash and outputting Z-axis coordinates based on the distance moved along that direction; an adjustment mechanism disposed on the movable base, connected to a cutting mechanism and a pair of scanning mechanisms spaced vertically apart, wherein the pair of scanning mechanisms are both located in front of the cutting mechanism, for acquiring and outputting the X-axis coordinates along the width direction and the Y-axis coordinates along the thickness direction of the flash at several points on the straight segments of the flash to be cut in front of the cutting mechanism, the oblique segments located on both sides of the straight segments, and one side surface of the blade body sidewall; the adjustment mechanism is adapted to fit the straight line of the blade body sidewall, the straight segment straight line, and the oblique segment straight line based on the X-axis and Y-axis coordinates output by the scanning mechanisms and the Z-axis coordinates output by the movable base, and to obtain the flash inflection point through the blade body sidewall straight line and the straight segment straight line, to obtain the straight segment oblique segment inflection point through the straight segment straight line and the oblique segment straight line, and to obtain the cutting point of each straight segment located on the flash through the flash inflection point and the straight segment oblique segment inflection point, so as to adjust the cutting mechanism so that the cutting mechanism moves along the cutting point.

[0007] The beneficial effect of this invention is that when the flash cutting device moves along the length direction of the flash via the moving base, it can obtain the Z-axis coordinate. At the same time, the scanning mechanism on the moving base can obtain the X-axis coordinates along the width direction and the Y-axis coordinates along the thickness direction of the flash at several points on the surface of the straight section, oblique section and blade body sidewall to be cut in front of the cutting mechanism. The adjustment mechanism can obtain the inflection points of the flash and the inflection points of the straight and oblique sections of each body according to each set of coordinates, and then obtain the cutting points of each straight section located on the flash. The cutting mechanism is constructed with the cutting points, and the construction of the travel path is no longer affected by the shape of the flash. Attached Figure Description

[0008] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram showing that the plane of the flash is parallel to the horizontal plane; Figure 2 This is a schematic diagram showing that the plane of the flash is not parallel to the horizontal plane; Figure 3 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 3 ; Figure 6 This is a schematic diagram of how the flash cutting device obtains the inflection points of the main body flash and the inflection points of the straight and inclined sections. Figure 1 ; Figure 7 This is a schematic diagram of how the flash cutting device obtains the inflection points of the main body flash and the inflection points of the straight and inclined sections. Figure 2 ; Figure 8 This is a schematic diagram of the flash cutting device adjusting the cutting mechanism according to the front and rear cutting points; Figure 9 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 4 ; Figure 10 yes Figure 9 Enlarged view of point A in the middle; Figure 11 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 5 ; Figure 12 yes Figure 11 Enlarged view of point B in the middle; Figure 13 This is a schematic diagram of the structure of the flash cutting device of the present invention. Figure 6 ; Figure 14 This is a control block diagram of the flash cutting device of the present invention; In the picture: Mobile base 100, adjustment mechanism 200, lifting adjustment assembly 210, lifting adjustment linear module 211, telescopic adjustment assembly 220, telescopic adjustment linear module 221, cutting base 230, Z-axis deflection assembly 240, Z-axis deflection base 241, Z-axis deflection drive 242, Z-axis deflection plate 243, Y-axis deflection assembly 250, Y-axis deflection plate 251, connecting rod 252, supporting protrusion 253, Y-axis deflection bearing 254, annular guide rail 255. 256, ring rack 257, Y-axis deflection drive 258, cutting mechanism 300, cutting substrate 310, cutting notch 311, cutting motor 320, band saw drive wheel 330, band saw driven wheel 340, band saw 350, scanning mechanism 400, column 510, adjusting rod 520, pulley 530, hanging rope 540, counterweight 550, scanning substrate 600, straight section 710, inclined section 720, blade body sidewall 730, body flash inflection point 740, straight section and inclined section inflection point 750. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments implemented by those skilled in the art without creative effort are within the protection scope of the present invention.

[0011] Example like Figure 3 As shown, the present invention provides a flash cutting device, comprising: a movable base 100 adapted to move along the length direction of the flash and outputting Z-axis coordinates based on the distance moved along that direction; and an adjustment mechanism 200 disposed on the movable base 100, which is combined with... Figure 4 The system is connected to a cutting mechanism 300 and a pair of scanning mechanisms 400 spaced vertically apart. Both scanning mechanisms 400 are located in front of the cutting mechanism 300. They acquire and output the X-axis coordinates along the width direction and the Y-axis coordinates along the thickness direction of the flash, from several points on the straight section 710 to be cut, the inclined sections 720 on both sides of the straight section 710, and one side surface of the blade body sidewall 730. The adjustment mechanism 200 is adapted to adjust the input from the scanning mechanisms 400 according to the data. The X-axis and Y-axis coordinates output by the moving base 100, along with the Z-axis coordinates output by the moving base 100, are used to fit the straight lines of the blade body sidewall, the straight section, and the inclined section. The blade body sidewall and straight section inflection points 740 and 750 are obtained through the straight section and inclined section. The cutting points of the straight sections 710 located on the blade body are obtained through the blade body sidewall and straight section inflection points 740 and 750. The cutting mechanism 300 is then adjusted to move along the cutting points.

[0012] When this flash cutting device moves along the length of the flash via the movable base 100, it can obtain the Z-axis coordinate. At the same time, the scanning mechanism 400 on the movable base 100 can obtain the X-axis coordinates along the width direction and the Y-axis coordinates along the thickness direction of the flash at several points on the surface of the straight section 710, the inclined section 720 and the side wall 730 of the blade body to be cut in front of it before the cutting mechanism 300. The adjustment mechanism 200 can obtain the inflection points 740 and the straight and inclined sections 750 of each body flash according to each set of coordinates, and then obtain the cutting points of each straight section 710 located on the flash. The cutting mechanism 300 is constructed with the cutting points, and the construction of the travel path is no longer affected by the shape of the flash.

[0013] like Figure 5As shown, the adjustment mechanism 200 includes: a lifting adjustment component 210, which is disposed on the movable base 100 and connected to the telescopic adjustment component 220, adapted to drive the telescopic adjustment component 220 to move along the Y-axis; the telescopic adjustment component 220 is connected to the cutting base 230 and adapted to drive the cutting base 230 to move along the X-axis; a Z-axis deflection component 240, which is disposed on the cutting base 230 and connected to the Y-axis deflection component 250, adapted to drive the Y-axis deflection component 250 to rotate about the Z-axis; the cutting mechanism 300 is disposed on the Y-axis deflection component 250, and the Y-axis deflection component 250 is adapted to drive the cutting mechanism 300 to rotate about the Y-axis; as Figure 14 As shown, the control module is electrically connected to the movable base 100, scanning mechanism 400, lifting adjustment component 210, telescopic adjustment component 220, Z-axis deflection component 240, Y-axis deflection component 250, and cutting mechanism 300. It is adapted to combine the X-axis and Y-axis coordinates output by the scanning mechanism 400 with the Z-axis coordinates output by the movable base 100 to form the XYZ coordinates of each point on the surface, so as to fit the straight line, straight segment straight line, and oblique segment straight line of the blade body sidewall. The blade body sidewall straight line and straight segment straight line are used to obtain the blade body flash edge inflection point 740, the straight segment straight line and oblique segment straight line are used to obtain the straight segment oblique segment inflection point 750, and the blade body flash edge inflection point 740 and the straight segment oblique segment inflection point 750 are used to obtain the cutting points of each straight segment 710 located on the flash edge. The cutting mechanism 300 is adjusted by the lifting adjustment component 210, telescopic adjustment component 220, Z-axis deflection component 240, and Y-axis deflection component 250.

[0014] In at least one embodiment, the mobile base 100 is an AGV vehicle; the scanning mechanism 400 is a vision camera; the vision camera can be an SR7240 camera; the control module is an industrial control computer; such as Figure 6As shown, the industrial control computer is adapted to divide the points on the surface into several large groups based on the same Z-coordinate, and further divide the points in each large group into smaller groups based on their side. It compares the X-coordinate difference and the Y-coordinate difference between adjacent points in each group. Points with an X-coordinate difference less than or equal to a preset value are assigned to the blade body sidewall group, and points with a Y-coordinate difference less than or equal to a preset value are assigned to the straight section group. The remaining points are assigned to the inclined section group. The XY coordinates of each point in the blade body sidewall group are used to fit a straight line of the blade body sidewall. The XY coordinates of each point in the straight section group are used to fit a straight line of the straight section. The XY coordinates of each point in the inclined section group are used to fit a straight line of the inclined section. The intersection of the straight line of the blade body sidewall and the straight line on the same side is taken as the blade body edge inflection point 740, and the intersection of the straight line and the inclined line on the same side is taken as the straight-sloping-segment inflection point 750. And obtain the midpoint of the straight and inclined section inflection point 750 on the upper side of the flash and the straight and inclined section inflection point 750 on the lower side of the flash. When both the main body flash inflection point 740 on the upper side of the flash and the main body flash inflection point 740 on the lower side of the flash exist, compare the X coordinate of the main body flash inflection point 740 on the upper side of the flash with the X coordinate of the midpoint, and compare the X coordinate of the main body flash inflection point 740 on the lower side of the flash with the X coordinate of the midpoint. Take the main body flash inflection point 740 that is close to the midpoint in the X-axis direction as the cutting point. When only one of the main body flash inflection point 740 on the upper side of the flash and the main body flash inflection point 740 on the lower side of the flash exists, take the existing main body flash inflection point 740 as the cutting point. When neither the main body flash inflection point 740 on the upper side of the flash nor the main body flash inflection point 740 on the lower side of the flash exists, take the midpoint as the cutting point.

[0015] After starting this flash trimming device, first control the AGV to move to the vicinity of one end of the blade body, so that the vision camera can scan the flash. At this point, the vision camera will scan the end of the flash. Refer to the attached document. Figure 6 The intersection of the upper straight section 710 and the blade body sidewall 730 at the end can be taken as the origin of the coordinate system. A cross-section, including the blade body and flash, perpendicular to the AGV's travel direction and passing through the intersection, is shown in the attached figure. Figure 6 The cross-section in the middle, the point located on the upper half of the cross-section, is obtained through the attachment. Figure 4 The points in the lower half of the cross-section, obtained by scanning with a visual camera located on the upper side, are obtained through an attached... Figure 4 The points scanned by the vision camera located on the lower side have Z-coordinates of 0 since the AGV has not yet officially moved along the length of the blade edge. The X and Y coordinates are based on the vision camera scans. These points can be divided into large groups based on the same Z-coordinate, and into upper and lower subgroups based on the Y-coordinate. For each subgroup, the difference in X-coordinate between adjacent points and the difference in Y-coordinate between adjacent points are compared. The subgroups are further divided into the blade body sidewall group, the straight section group, and the inclined section group. For the points in the sidewall group, the straight section group, and the inclined section group, the industrial control computer uses the least squares fitting method to fit the values ​​as shown in the attached figure. Figure 7 The straight lines in the diagram, namely the straight lines of the blade body sidewall, the straight section, and the inclined section, intersect to obtain the inflection point 740 of the blade body flash and the inflection point 750 of the straight and inclined sections. After obtaining the inflection points 740 and 750, the industrial control computer can further use these points to obtain the cutting point of the cross-section in the manner described above. Then, the cutting mechanism 300 is moved to the cutting point by the adjustment mechanism 200, which serves as the starting position for cutting. Therefore, when using this flash cutting device, it is only necessary to control the AGV to move to the vicinity of one end of the blade body so that the vision camera can scan the flash. After that, the flash cutting device can automatically find the starting position for cutting, eliminating the need for manual searching and alignment of the cutting position.

[0016] After the cutting mechanism 300 is positioned at the starting point of the cutting process, the AGV can begin moving along the length of the burr. Each predetermined distance traveled outputs the corresponding Z-axis coordinate. The scanning mechanism 400 needs to be positioned in front of the cutting mechanism 300 to obtain the coordinates of points on the surfaces of the straight section 710, the inclined section 720, and the sidewall 730 of the blade body to be cut. However, the distance of the scanning mechanism 400 from the origin of the coordinate system along the Z-axis is fixed. Therefore, the Z-axis coordinates output by the AGV each predetermined distance traveled can be converted into the coordinates of the points on the surfaces of the scanning mechanism 400 at that moment. In the Z-axis coordinate of the position, the industrial control computer can integrate the Z-axis coordinate of the position of the vision camera and the X and Y coordinates of each point acquired by the vision camera at its position, so as to obtain the points on the cross section that is perpendicular to the AGV vehicle's travel direction and passes through the Z-axis coordinate, including the blade body and the flash. Then, the cutting point of the cross section is obtained in the above manner. Then, based on the coordinates of the current cutting point and the next cutting point, after the cutting mechanism 300 passes through the current cutting point, the travel path and travel posture of the cutting mechanism 300 are adjusted by the adjustment mechanism 200.

[0017] The flash cutting device adjusts the travel path and travel posture of the cutting mechanism 300 through the adjustment mechanism 200 as follows.

[0018] like Figure 8 As shown, (x1, y1, z1) are used as the coordinates of the current cutting point, and (x2, y2, z2) are used as the coordinates of the next cutting point. Combined with... Figure 5The industrial control computer is adapted to, after the cutting mechanism 300 passes the current cutting point, compare the X coordinate of the current cutting point with the X coordinate of the next cutting point, and move the cutting mechanism 300 along the X-axis by a corresponding distance using the telescopic adjustment component 220; compare the Y coordinate of the current cutting point with the Y coordinate of the next cutting point, and move the cutting mechanism 300 along the Y-axis by a corresponding distance using the lifting adjustment component 210; compare the X and Z coordinates of the current cutting point with the X and Z coordinates of the next cutting point, and rotate the cutting mechanism 300 around the Y-axis by a corresponding angle using the Y-axis deflection component 250; compare the X and Y coordinates of the current cutting point with the X and Y coordinates of the next cutting point, and rotate the cutting mechanism 300 around the Z-axis by a corresponding angle using the Z-axis deflection component 240. The included angle is calculated using the coordinates of points (x1, y1, z1) and (x2, y2, z2) through trigonometric functions. Figure 5 and Figure 9 As shown, the lifting adjustment assembly 210 includes a lifting adjustment linear module 211, which is vertically arranged on the movable base 100.

[0019] like Figure 5 and Figure 9 As shown, the telescopic adjustment assembly 220 includes: a telescopic adjustment linear module 221, which is disposed on the slider of the lifting adjustment linear module 211 and extends in a direction perpendicular to the length direction of the flash; the slider of the telescopic adjustment linear module 221 is connected to the cutting base 230.

[0020] like Figure 9 As shown, the movable base 100 is provided with a column 510, which is connected to the lifting and adjusting linear module 211 to support the lifting and adjusting linear module 211. The column 510 is provided with an adjusting rod 520, and the adjusting rod 520 is provided with a pair of pulleys 530. One end of the cutting base 230 extending out of the telescopic adjusting linear module 221 is connected to a suspension rope 540, which passes through the pair of pulleys 530 and connects to a counterweight 550 located on one side of the telescopic adjusting linear module 221. Since the Z-axis deflection assembly 240, the Y-axis deflection assembly 250, and the cutting mechanism 300 are all mounted on the cutting base 230, the overall weight is relatively large. By connecting the cutting base 230 with the counterweight 550, the cutting base 230 can remain horizontal even after the telescopic adjusting linear module 221 has extended it.

[0021] like Figure 10As shown, the Z-axis deflection assembly 240 includes: a Z-axis deflection base 241 disposed on the cutting base 230; a Z-axis deflection drive 242 hinged to the cutting base 230; and a Z-axis deflection plate 243, one end of which is hinged to the Z-axis deflection base 241, with the hinged axis parallel to the length direction of the flash, and the other end of which is hinged to the extended end of the Z-axis deflection drive 242. The Z-axis deflection drive 242 may, but is not limited to, be an electric cylinder. (See reference...) Figure 10 When the extended end of the Z-axis deflection drive 242 extends downward, it drives the Z-axis deflection plate 243 to rotate. The pivot is located at the hinge point between the right end of the Z-axis deflection plate 243 and the Z-axis deflection base 241. (Refer to...) Figure 9 , Figure 9 The AGV moves along the length of the flash, in the following direction. Figure 9 From the top right to the bottom left, Figure 9 The Z-axis of the coordinate system is also from the upper right to the lower left, thus making Figure 10 The deflection plate 243 rotates around the Z-axis.

[0022] like Figure 10 , 11 As shown in Figure 12, the Y-axis deflection assembly 250 includes: a Y-axis deflection plate 251, one end of which is passed through by a connecting rod 252 and abuts against a supporting protrusion 253 on the connecting rod 252; a Y-axis deflection bearing 254 is provided between the rod wall of the connecting rod 252 and the Y-axis deflection plate 251; and an annular guide rail 255 is connected to the other end of the Y-axis deflection plate 251. The connecting rod 252 is connected to the Z-axis deflection plate 243. After the annular guide rail 255 passes through the annular guide rail seat 256 on the bottom surface of the Z-axis deflection plate 243, the Y-axis deflection plate 251 is parallel to the Z-axis deflection plate 243. An annular rack 257 is provided on the Y-axis deflection plate 251, and the annular rack 257 meshes with the Y-axis deflection drive member 258 on the Z-axis deflection plate 243. The Y-axis deflection drive 258 can, but is not limited to, use a motor; see reference [reference needed] Figure 12 When the Y-axis deflection drive 258 drives the Y-axis deflection plate 251 via the ring rack 257, it causes the Y-axis deflection plate 251 to rotate. The shaft is located at the Y-axis deflection bearing 254. (Refer to...) Figure 11 , Figure 11 In the coordinate system, the Y-axis points vertically upwards, thus... Figure 12 The deflection plate 251 around the Y-axis rotates around the Y-axis.

[0023] Figure 11 The AGV moves along the length of the flash, in the following direction. Figure 11 From the lower right to the left of the middle, Figure 11 The Z-axis of the mid-coordinate system is also from the lower right to slightly to the left of the center. Figure 11In the coordinate system, the Y-axis is vertically upward. The Z-axis deflection drive 242 drives the Z-axis deflection plate 243 to rotate around the Z-axis, and also drives the Y-axis deflection plate 251, which is parallel to the Z-axis deflection plate 243, to rotate around the Z-axis. At the same time, the Y-axis deflection plate 251 can also rotate around the Y-axis under the drive of the Y-axis deflection drive 258. Thus, the cutting mechanism 300 set on the Y-axis deflection plate 251 can rotate around the Z-axis and around the Y-axis. The angle of rotation around the Z-axis and the angle of rotation around the Y-axis can be calculated by the industrial control computer using the XYZ coordinates of the current cutting point and the next cutting point. Therefore, this flash cutting device continuously acquires the XYZ coordinates of the current cutting point and the next cutting point, and senses that the flash to be cut will produce a complex shape because its direction is the same as the curved surface of the blade body. For example, when the flash is not parallel to the horizontal plane, the device can adjust the travel path of the cutting mechanism 300 by adjusting the lifting and lowering linear module 211 and the telescopic adjusting linear module 221, and adjust the travel posture of the cutting mechanism 300 by adjusting the deflection drive 242 around the Z-axis and the deflection drive 258 around the Y-axis, so that the orientation of the cutting mechanism 300 is the same as the tangent direction of the curved surface of the blade body.

[0024] For blades with complex fly-edge shapes, where one side of the windward or leeward side protrudes, such as... Figure 6 As shown, when constructing the travel path, this flash cutting device can also determine the starting position of the cut by comparing the X coordinate of the upper flash inflection point 740 with the X coordinate of the midpoint when both the upper and lower flash inflection points 740 exist, and comparing the X coordinate of the lower flash inflection point 740 with the X coordinate of the midpoint. The device will then select the flash inflection point 740 that is closer to the midpoint in the X-axis direction as the cutting point, thus constructing a travel path that will not cut the blade body.

[0025] In cases where there is no clear boundary between the flash and the blade body on one side of a complex flash shape, this flash cutting device can determine the correct cutting point when constructing the travel path by using the existing flash inflection point 740 as the cutting point when only one of the flash inflection point 740 on the upper side or the flash inflection point 740 on the lower side exists. This allows the flash cutting to still be completed.

[0026] like Figure 13 and Figure 4As shown, the cutting mechanism 300 includes: a cutting base plate 310, which is vertically disposed on the bottom surface of the Y-axis deflection plate 251; a cutting motor 320, which is disposed on the cutting base plate 310; a band saw drive wheel 330, which is disposed on the cutting base plate 310 and is connected to the cutting motor 320 for transmission; a band saw driven wheel 340, which is disposed on the cutting base plate 310; and a band saw 350, which is tensioned on the band saw drive wheel 330 and the band saw driven wheel 340. A cutting notch 311 is opened on the cutting base plate 310 to expose one side of the band saw 350 for cutting burrs. The scanning mechanism 400 is disposed on the upper and lower sides in front of the cutting notch 311 via a scanning base plate 600. By adjusting the lifting linear module 211 and the telescopic linear module 221, the band saw 350 can be moved along the Y-axis and X-axis, thus adjusting the travel path of the band saw 350. By adjusting the deflection drive 242 around the Z-axis and the deflection drive 258 around the Y-axis, the angle of deflection of the band saw 350 around the Z-axis and the angle of deflection around the Y-axis can be adjusted, thus adjusting the travel posture of the band saw 350, so that the orientation of the band saw 350 is the same as the tangential direction of the curved surface of the blade body.

[0027] In summary, when the flash cutting device moves along the length of the flash via the movable base 100, it can obtain the Z-axis coordinate. Simultaneously, the scanning mechanism 400 on the movable base 100 can obtain the X-axis coordinates along the width direction and the Y-axis coordinates along the thickness direction of the flash at several points on the surface of the straight section 710, the inclined section 720, and the side wall 730 of the blade body to be cut before the cutting mechanism 300. The adjustment mechanism 200 can obtain the inflection points 740 and the inflection points 750 of the body flash based on each set of coordinates, thereby obtaining the cutting points of each straight section 710 located on the flash, and constructing the travel path of the cutting mechanism 300 based on the cutting points. The construction of the travel path is no longer affected by the shape of the flash.

[0028] In the embodiments provided in this application, it should be understood that the disclosed systems and devices can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of the mechanism is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0029] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A flash cutting device, characterized in that, include: A movable base (100) is adapted to move along the length direction of the flash and outputs the Z-axis coordinate based on the distance moved along that direction; An adjustment mechanism (200) is mounted on a movable base (100) and connected to a cutting mechanism (300) and a pair of scanning mechanisms (400) spaced vertically apart. The pair of scanning mechanisms (400) are both located in front of the cutting mechanism (300) to obtain the X-axis coordinates along the width direction of the flash and the Y-axis coordinates along the thickness direction of the flash of the straight section (710) to be cut in front of the cutting mechanism (300), the inclined sections (720) on both sides of the straight section (710), and one side surface of the blade body sidewall (730), and output them. The adjustment mechanism (200) is adapted to fit the straight line of the blade body sidewall, the straight section straight line and the oblique section straight line according to the X-axis coordinate and Y-axis coordinate output by the scanning mechanism (400) and the Z-axis coordinate output by the moving base (100), and obtain the blade body flash edge inflection point (740) through the blade body sidewall straight line and the straight section straight line, obtain the straight section oblique section inflection point (750) through the straight section straight line and the oblique section straight line, and obtain the cutting point of each straight section (710) located on the flash edge through the blade body flash edge inflection point (740) and the straight section oblique section inflection point (750), so as to adjust the cutting mechanism (300) so that the cutting mechanism (300) moves along the cutting point.

2. The flash cutting device according to claim 1, characterized in that, The adjustment mechanism (200) includes: A lifting adjustment assembly (210) is disposed on the movable base (100) and connected to the telescopic adjustment assembly (220), and is adapted to drive the telescopic adjustment assembly (220) to move along the Y-axis; The telescopic adjustment component (220) is connected to the cutting base (230) and is adapted to drive the cutting base (230) to move along the X-axis; A deflection assembly (240) around the Z-axis is mounted on the cutting base (230) and connected to a deflection assembly (250) around the Y-axis. It is suitable for driving the deflection assembly (250) around the Y-axis to rotate around the Z-axis. The Y-axis deflection assembly (250) is provided with the cutting mechanism (300), and the Y-axis deflection assembly (250) is adapted to drive the cutting mechanism (300) to rotate around the Y-axis. The control module, electrically connected to the movable base (100), scanning mechanism (400), lifting adjustment assembly (210), telescopic adjustment assembly (220), Z-axis deflection assembly (240), Y-axis deflection assembly (250), and cutting mechanism (300), is adapted to combine the X-axis and Y-axis coordinates output by the scanning mechanism (400) with the Z-axis coordinates output by the movable base (100) to form the XYZ coordinates of each point on the surface, so as to fit the straight line of the blade body sidewall, the straight line segment, and the... The oblique section is straight, and the blade body sidewall straight and straight section straight are used to obtain the blade body flash edge inflection point (740). The straight section oblique section inflection point (750) is obtained through the straight section straight and oblique section straight. The cutting point of each straight section (710) located on the flash edge is obtained through the blade body flash edge inflection point (740) and straight section oblique section inflection point (750). The cutting mechanism (300) is adjusted by the lifting adjustment component (210), the telescopic adjustment component (220), the deflection component around the Z axis (240), and the deflection component around the Y axis (250).

3. The flash cutting device according to claim 2, characterized in that, The mobile base (100) is an AGV vehicle; The scanning mechanism (400) is a visual camera; The control module is an industrial computer; The industrial control computer is adapted to divide the points on the surface into several large groups based on the same Z-coordinate, and further divide the points in each large group into smaller groups based on their side. It compares the X-coordinate difference and the Y-coordinate difference between adjacent points in each group. Points with an X-coordinate difference less than or equal to a preset value are assigned to the blade body sidewall group, and points with a Y-coordinate difference less than or equal to a preset value are assigned to the straight section group. The remaining points are assigned to the inclined section group. The XY coordinates of each point in the blade body sidewall group are used to fit a straight line of the blade body sidewall. The XY coordinates of each point in the straight section group are used to fit a straight line of the straight section. The XY coordinates of each point in the inclined section group are used to fit a straight line of the inclined section. The intersection of the straight line of the blade body sidewall and the straight line of the same side is taken as the blade body flash edge inflection point (740). The intersection of the straight line of the same side and the inclined line of the same side is taken as the straight-sloping-segment inflection point (750). The upper side of the flash edge is then obtained. The midpoint between the straight section inflection point (750) and the straight section inflection point (750) on the lower side of the flash, when both the main body flash inflection point (740) on the upper side of the flash and the main body flash inflection point (740) on the lower side of the flash exist, the X coordinate of the main body flash inflection point (740) on the upper side of the flash is compared with the X coordinate of the midpoint, and the X coordinate of the main body flash inflection point (740) on the lower side of the flash is compared with the X coordinate of the midpoint. The main body flash inflection point (740) that is close to the midpoint in the X-axis direction is taken as the cutting point. When only one of the main body flash inflection point (740) on the upper side of the flash and the main body flash inflection point (740) on the lower side of the flash exists, the existing main body flash inflection point (740) is taken as the cutting point. When neither the main body flash inflection point (740) on the upper side of the flash nor the main body flash inflection point (740) on the lower side of the flash exists, the midpoint is taken as the cutting point.

4. The flash cutting device according to claim 3, characterized in that, The industrial control computer is adapted to, after the cutting mechanism (300) passes the current cutting point, compare the X coordinate of the current cutting point with the X coordinate of the next cutting point, move the cutting mechanism (300) along the X-axis by a corresponding distance through the telescopic adjustment component (220), compare the Y coordinate of the current cutting point with the Y coordinate of the next cutting point, move the cutting mechanism (300) along the Y-axis by a corresponding distance through the lifting adjustment component (210), compare the X and Z coordinates of the current cutting point with the X and Z coordinates of the next cutting point, rotate the cutting mechanism (300) around the Y-axis by a corresponding angle through the Y-axis deflection component (250), compare the X and Y coordinates of the current cutting point with the X and Y coordinates of the next cutting point, and rotate the cutting mechanism (300) around the Z-axis by a corresponding angle through the Z-axis deflection component (240).

5. The flash cutting device according to claim 4, characterized in that, The lifting adjustment assembly (210) includes: The lifting and adjusting linear module (211) is vertically mounted on the movable base (100).

6. The flash cutting device according to claim 5, characterized in that, The telescopic adjustment assembly (220) includes: The telescopic adjustment linear module (221) is mounted on the slider of the lifting adjustment linear module (211) and extends in a direction perpendicular to the length direction of the flash. The slider of the telescopic adjustment linear module (221) is connected to the cutting base (230).

7. The flash cutting device according to claim 6, characterized in that, The movable base (100) is provided with a column (510), and the column (510) is connected to the lifting adjustment linear module (211) to support the lifting adjustment linear module (211). The column (510) is provided with an adjusting rod (520), and the adjusting rod (520) is provided with a pair of pulleys (530); The cutting base (230) extends out of the telescopic adjustment linear module (221) and is connected to a suspension rope (540). The suspension rope (540) passes through a pair of pulleys (530) and is connected to a counterweight (550) located on one side of the telescopic adjustment linear module (221).

8. The flash cutting device according to claim 7, characterized in that, The Z-axis deflection assembly (240) includes: A deflection base (241) about the Z-axis is disposed on the cutting base (230); A deflection drive (242) about the Z-axis is hinged to the cutting base (230); The Z-axis deflection plate (243) has one end hinged to the Z-axis deflection base (241), and the pivot formed by the hinge is parallel to the length direction of the flash. The other end is hinged to the protruding end of the Z-axis deflection drive (242).

9. The flash cutting device according to claim 8, characterized in that, The Y-axis deflection assembly (250) includes: A Y-axis deflection plate (251) is passed through by a connecting rod (252) at one end and abuts against a supporting protrusion (253) on the connecting rod (252). A Y-axis deflection bearing (254) is provided between the rod wall of the connecting rod (252) and the Y-axis deflection plate (251). The other end of the Y-axis deflection plate (251) is connected to an annular guide rail (255). The connecting rod (252) is connected to the deflection plate (243) around the Z-axis. After the annular guide rail (255) passes into the annular guide rail seat (256) on the bottom surface of the deflection plate (243) around the Z-axis, the deflection plate (251) around the Y-axis is parallel to the deflection plate (243) around the Z-axis. The Y-axis deflection plate (251) is provided with an annular rack (257), and the annular rack (257) meshes with the Y-axis deflection drive (258) on the Z-axis deflection plate (243).

10. The flash cutting device according to claim 9, characterized in that, The cutting mechanism (300) includes: A cutting substrate (310) is vertically disposed on the bottom surface of the deflection plate (251) around the Y-axis; A cutting motor (320) is mounted on a cutting substrate (310); The band saw drive wheel (330) is mounted on the cutting base plate (310) and is connected to the cutting motor (320) for transmission. The band saw driven wheel (340) is mounted on the cutting substrate (310); The band saw (350) is tensioned on the band saw drive wheel (330) and the band saw driven wheel (340); The cutting substrate (310) has a cutting notch (311) to expose one side of the band saw (350) for cutting burrs; The scanning mechanism (400) is disposed on the upper and lower sides in front of the cutting notch (311) via the scanning substrate (600).

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