Intelligent cutting equipment for compressor

Abstract

The utility model provides intelligent cutting equipment for a compressor, which comprises a feeding chain plate line used for feeding the compressor conveyed from a previous station; the feeding robot is arranged on one side of the feeding chain plate line, a laser line scanning camera and a clamp are arranged on the feeding robot, and the feeding robot is used for conducting image taking and grabbing on the compressor; the top of the fireproof room is provided with a fireproof valve and a smoke exhaust pipeline, and the tail end of the smoke exhaust pipeline is connected with a purification device; the cutting chain plate line is perpendicular to the feeding chain plate line and penetrates through the fireproof room, and automatic doors capable of being automatically opened and closed are arranged at the two ends of the cutting chain plate line; the cutting robot is provided with a plasma cutting gun and used for cutting the compressor located on the cutting chain plate line according to the path planned by the visual system. The robot is used for achieving full-automatic cutting, modeling matching in advance is not needed, and the automation degree is high.

Description

Technical Field

[0001] This utility model relates to the field of cutting device technology, and more specifically, to a compressor-based intelligent cutting device. Background Technology

[0002] Compressor casing cutting is the first step in dismantling used compressors. Traditionally, this is mostly done manually using handheld plasma cutting, which generates a large amount of dust, posing serious harm to human health and the environment. Existing automated compressor dismantling equipment uses a binocular structured light camera to capture images of the compressor and compares them with an existing model library. Once a match is found, a preset cutting path is invoked for cutting. However, compressors are black cylinders, requiring the binocular 3D camera to take multiple photos and stitch the point cloud data together. This results in poor edge rendering, low image accuracy after stitching, and a low matching success rate. Furthermore, used compressors are diverse and inconsistent, requiring extensive calculations for 3D point cloud data matching. This places high demands on computer hardware and is time-consuming, impacting equipment production efficiency. Additionally, compressor models need to be manually created in advance, and the cutting path needs to be manually taught, making it difficult to quickly adapt to new compressor models. Utility Model Content

[0003] To address the aforementioned shortcomings, this invention provides a compressor-based intelligent cutting device. This invention utilizes a robot to achieve fully automated cutting, eliminating the need for prior modeling and matching, and achieving a high degree of automation.

[0004] This utility model provides an intelligent compressor cutting device, comprising: a feeding chain conveyor for feeding compressors from the preceding workstation; a feeding robot located on one side of the feeding chain conveyor, equipped with a laser line scanning camera and a clamp, used for image capture and gripping of the compressor; a fireproof room with a fire damper and smoke exhaust pipe on the top, automatic doors that can open and close automatically on both sides of the fireproof room, and a purification device connected to the end of the smoke exhaust pipe; a cutting chain conveyor perpendicular to the feeding chain conveyor, passing through the fireproof room, with automatic doors that can open and close automatically at both ends; and a cutting robot used for cutting the compressor located on the cutting chain conveyor according to a path planned by a vision system. The cutting robot includes a base, a robot body, a lifting body connector, a lifting body, and a plasma cutting gun. The robot body is fixed to the base, the lifting body connector is fixed to the end flange of the robot body, the lifting body is fixed to the lifting body connector, and a telescopic shaft is provided inside the lifting body, which is connected to the plasma cutting gun through a cutting clamp.

[0005] In one embodiment of this utility model, the clamp includes: a flange installed at the end of a robot, the flange including a first flange and a second flange, the first flange and the second flange being disposed opposite each other and connected by a connector; an electromagnet mounting plate disposed on the other side of the second flange opposite to the first flange; an electromagnet mounted on the electromagnet mounting plate; a guide shaft, one end of which is perpendicularly connected to the first flange, and the other end passing through the second flange and perpendicularly connected to the electromagnet mounting plate; a linear bearing disposed on the outer periphery of the guide shaft, one end of which is fixed on the first flange; a spring limiting pin, one end of which is connected to the first flange, and the other end of which is connected to the electromagnet mounting plate; and a spring sleeved on the outer periphery of the spring limiting pin, the two end faces of which are in contact with the flange mounting plate and the electromagnet mounting plate, respectively.

[0006] In one embodiment of this utility model, the clamp is a pneumatic gripper or an electric gripper.

[0007] In one embodiment of this utility model, the laser line scanning camera is mounted on the connector via a camera bracket.

[0008] In one embodiment of this utility model, the fireproof room consists of a fire wall panel, two automatic doors, and a smoke exhaust duct. The two automatic doors are respectively installed on the fire wall panel, and the smoke exhaust duct is provided on the top of the fire wall panel.

[0009] In one embodiment of this utility model, a fixture is installed at the center of the chain plate for cutting the chain plate line. The fixture has a conical groove in the middle to support the compressor, whose bottom is spherical and cannot stand on a flat surface.

[0010] In summary, this utility model provides a compressor-based intelligent cutting device, and the beneficial effects of this utility model are:

[0011] This invention's cutting system employs fully automated robotic technology, eliminating the need for prior modeling or matching, and achieving a high degree of automation. The cutting operation is conducted in a dedicated fireproof room, effectively eliminating fire hazards. Simultaneously, the generated smoke and dust are centrally treated through advanced purification equipment, ensuring it is harmless to humans and the environment. After cutting, components such as the rotor, cylinder chamber, and stator within the casing can be easily removed, achieving efficient recycling.

[0012] Furthermore, the cutting system of this invention possesses strong adaptive capabilities, automatically positioning and precisely grasping materials regardless of their orientation. Without manual teaching, the system automatically generates the optimal cutting path, improving cutting efficiency and precision. Particularly noteworthy is that the plasma cutting gun is mounted on a six-axis robotic arm, offering greater flexibility and versatility compared to traditional cutting devices that can only move and rotate along the Z-axis. When cutting air conditioner compressors, there is no need for manual pre-removal of the liquid reservoir, significantly simplifying the operation process.

[0013] Furthermore, the cutting station is cleverly designed on the conveyor belt, allowing for seamless integration with upstream and downstream equipment to achieve a fully automated production process and further improve production efficiency. The system also features intelligent cutting capabilities, automatically measuring the diameter and height of the air conditioning compressor and intelligently identifying and avoiding critical components such as liquid storage tanks, terminals, and copper pipes, thereby planning the optimal cutting path to ensure precise cutting results. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of a compressor-based intelligent cutting device.

[0015] Figure 2 This is a top view of the intelligent cutting equipment for compressors.

[0016] Figure 3 This is a schematic diagram of the three-dimensional structure of the cutting fixture.

[0017] Figure 4 This is a schematic diagram of the three-dimensional structure of the feeding fixture.

[0018] Figure 5 This is a flowchart of the vision system processing.

[0019] Figure 6 This is a schematic diagram of the control system.

[0020] Key element symbols: 1. Feeding chain conveyor; 2. Feeding robot; 21. Fixture; 211. Flange mounting plate; 212. Linear bearing; 213. Electromagnet mounting plate; 214. Guide shaft; 215. Spring; 216. Spring limit pin; 217. Electromagnet; 22. Laser line scanning camera; 3. Cutting chain conveyor; 31. Chain plate; 311. Fixture; 4. Cutting robot; 41. Base; 42. Robot body; 43. Lifting body connector; 44. Lifting body; 45. Plasma cutting gun; 46. Telescopic shaft; 47. Cutting fixture; 5. Fireproof room; 51. Firewall panel; 52. Automatic door; 521. Automatic door panel; 522. Door guide rail; 523. Cylinder; 53. Smoke exhaust duct; 54. Fire damper; 6. Purification device; 7. Compressor; Ht. Main controller system; H1. Feeding robot controller; H2. Cutting robot controller; H3. Cutting machine controller; H4. Smoke exhaust system; 55. Smoke exhaust motor; H5. Laser line scanning camera system; Ha1. Feeding chain plate controller; 11. Feeding chain plate motor; Ha2. Cutting chain plate controller; 32. Cutting chain plate motor; H6. Electro-permanent magnet controller; 218. Electro-permanent magnet. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0022] Please refer to Figure 1 , Figure 2 This utility model provides a compressor intelligent cutting equipment, which includes a feeding chain plate line 1, a feeding robot 2, a cutting chain plate line 3, a cutting robot 4, and a fireproof room 5.

[0023] The feeding chain conveyor 1 is responsible for feeding the compressor 7, which is transported from the previous station.

[0024] The loading robot 2 is located on one side of the loading chain plate line 1. The loading robot 2 is equipped with a laser line scanning camera 22 and a clamp 21. The loading robot 2 is responsible for taking pictures and grabbing the compressor 7.

[0025] The top of the fireproof room 5 is equipped with a fire damper 54 and a smoke exhaust pipe, with the end of the smoke exhaust pipe connected to a purification device 6.

[0026] The cutting chain plate line 3 is set perpendicular to the feeding chain plate line 1. The cutting chain plate line 3 runs through the fireproof room, and automatic doors 52 that can open and close automatically are provided at both ends of the cutting chain plate line 3.

[0027] The cutting robot 4 is equipped with a plasma cutting gun and is responsible for cutting the compressor 7 located on the cutting chain line according to the path planned by the vision system.

[0028] The loading robot scans the compressor 7 with a laser line scanning camera to measure its diameter, height, posture, and position, and generates a gripping position. After gripping, the compressor 7 is placed vertically at the center of the fixture 311 on the cutting chain line. The cutting robot cuts the compressor 7 tank in the fireproof room according to the cutting path generated by the vision system. The smoke and dust generated during the cutting process are introduced into the purification device 6 through the smoke exhaust pipe for treatment.

[0029] Specifically, such as Figure 3As shown, the end of the loading robot 2 is equipped with a clamp 21 and a laser line scanning camera 22. The clamp 21 includes a flange, a linear bearing 212, an electromagnet mounting plate 213, a guide shaft 214, a spring 215, a spring limit pin 216, and an electromagnet 217.

[0030] A flange is installed at the end of robot 2. The flange includes a first flange 211 and a second flange 218. The first flange 211 and the second flange 218 are arranged opposite to each other and are connected by a connector. One end of the guide shaft 214 is perpendicularly connected to the first flange 211 of the flange 211, and the other end passes through the second flange 218 and is perpendicularly connected to the electromagnet mounting plate 213. A linear bearing 212 is arranged on the outer periphery of the guide shaft 214, and one end of the linear bearing 212 is fixed on the first flange.

[0031] One end of the spring limiting pin 216 is connected to the first flange 211, and the other end is connected to the electromagnet mounting plate 213. A spring 215 is sleeved on the outer circumference of the spring limiting pin 216, with its two end faces contacting the flange mounting plate 211 and the electromagnet mounting plate 213 respectively. The spring 215 absorbs the impact when the electromagnet 217 contacts the compressor 7 housing. The electromagnet 217 is mounted on the electromagnet mounting plate 213 and its engagement and disengagement are controlled by a switch signal. The V-shaped magnet cross-section can conform to the cylindrical surface of the compressor 7, gripping the compressor 7 by magnetic force. The clamp 21 can be an electromagnet, or it can be replaced with a pneumatic or electric gripper.

[0032] The laser line scanning camera 22 is mounted on the camera bracket 221, which is connected to the connector.

[0033] Before the loading robot 2 picks up the material, it takes a picture of the compressor 7 to determine the gripping position of the electromagnet 217. Then, the loading robot 2 carries the electromagnet 217 to pick up the compressor 7 and stands it vertically on the chain plate 31 of the cutting chain plate line 3. The camera on the loading robot 2 then takes pictures of the top surface and cylindrical surface of the compressor 7, and the vision system plans the cutting path.

[0034] A fixture 311 is installed at the center of the chain plate 31 of the cutting chain plate line 3. The fixture 311 has a conical groove in the middle to support the compressor 7, which has a spherical bottom and cannot stand on a flat surface. The chain plate 31 can move horizontally along the chain direction.

[0035] like Figure 4As shown, the cutting robot 4 includes a base 41, a robot body 42, a lifting connector 43, a lifting body 44, and a cutting machine. The robot body 42 is fixed to the base 41, the lifting connector 43 is fixed to the end flange of the robot body 42, and the lifting body 44 is fixed to the lifting connector 43. A telescopic shaft 46 is provided inside the lifting body 44. The telescopic shaft 46 is connected to the cutting machine via a cutting fixture 47, preferably a plasma cutting gun 45. The telescopic shaft 46 can extend and retract, thereby moving the plasma cutting gun 45 closer to or further away from the compressor 7 housing, compensating for errors caused by the robot or vision system.

[0036] Fireproof room 5 prevents the spread of fire caused by plasma cutting and blocks cutting fumes and harmful gases. Fireproof room 5 consists of a fire wall panel 51, two automatic doors 52, a smoke exhaust duct 53, and a fire damper 54. The two automatic doors 52 are respectively installed on the fire wall panel 51 to seal and block harmful fumes. A smoke exhaust duct 53 is installed on the top of the fire wall panel 51, and a fire damper 54 is installed on the smoke exhaust duct 53. The smoke exhaust duct 53 guides harmful fumes into a purification device 6 to adsorb dust and harmful impurities.

[0037] The automatic door 52 includes an automatic door panel 521, a door guide rail 522, and a cylinder 523. The door guide rail 522 is fixed to the firewall panel 51. Both sides of the automatic door panel 521 are slidably connected to the door guide rail 522, and the top of the automatic door panel 521 is connected to the cylinder 523. The automatic door 52 is driven by the cylinder 523 and guided by the door guide rail 522.

[0038] The working process of this embodiment is as follows: The compressor 7 is conveyed to the gripping station by the feeding chain plate 1. The camera 22 on the feeding robot 2 takes an image of the compressor 7 from above. The vision system positions and measures the diameter and posture of the compressor 7 and finally determines the gripping position. The feeding robot 2, with an electromagnet 217, grips the compressor 7 and stands it upright on the fixture 311 in the center of the chain plate 31 of the feeding chain plate 2. It takes an image of the top cover of the compressor 7 from above again and takes an image of the cylindrical surface around the compressor 7. The vision system identifies features such as the liquid storage tank, copper pipe, and terminal block and plans the cutting path. The automatic door 52 on the firewall 5 opens, and the chain plate 31 of the cutting chain plate 3 moves to the cutting station in the fireproof room 5. The automatic door 52 closes. The cutting robot 4, with a plasma cutting gun 45, cuts the casing of the compressor 7. After completion, the automatic door 52 on the other side opens, and the chain plate 31 of the cutting chain plate 3 moves out of the fireproof room 5. The compressor 7, cut by the chain plate 31, slides down.

[0039] Among them, such as Figure 5 As shown, the vision system processing flow includes the following steps:

[0040] (1) The laser line scanning camera 22 rotates horizontally around the compressor 7 for one revolution to capture the unfolded depth map of the side of the compressor 7. The depth map contains detailed information such as the distance, angle and height of each feature point of the compressor 7 relative to the camera.

[0041] (2) The depth of the rotating axis and the perimeter of the side of the compressor 7 are calibrated. Then, the depth map is converted into surface depth data by an algorithm, and a three-dimensional point cloud model of the compressor 7 is fitted. In the three-dimensional point cloud model, key features such as the top cover, liquid storage tank, bottom support, and copper pipe are identified.

[0042] (3) Based on the identified features, sensitive areas such as storage tanks, copper pipes, and terminals are avoided, and two symmetrical vertical cutting paths are generated, as well as a semi-circular cutting path offset upwards by 'a' from the bottom support. Simultaneously, a cutting path is generated that runs in opposite directions from the bottom and along the edge of the top cover. This path is roughly a spatial closed-loop S-shape, composed of points with rectangular coordinates spaced at intervals of 'b'. The generated cutting path points are sent to the cutting robot controller to execute subsequent cutting operations.

[0043] Next, the control structure of the intelligent compressor cutting equipment will be explained.

[0044] like Figure 6 As shown, the main controller system Ht is the core of the entire system, responsible for coordinating and controlling the operation of each subsystem.

[0045] The H1 loading robot controller precisely controls the actions of the loading robot, including operations such as gripping, transporting, and placing materials, ensuring the accuracy and reliability of the loading process.

[0046] The cutting robot controller H2 directs the cutting robot to perform cutting operations according to preset programs and parameters, such as precise control of cutting path, speed, and force.

[0047] The cutting machine controller H3 executes the actual cutting task, physically cutting the material according to the instructions of the cutting robot controller.

[0048] The smoke extraction system H4 maintains a clean and safe working environment, reduces the health hazards of smoke and dust to operators, and also helps protect equipment from smoke and dust corrosion, extending its service life. The smoke extraction motor 55 provides power to the system, expelling the smoke and dust generated during the cutting process from the work area.

[0049] The H5 laser line scanning camera system can be used for real-time monitoring and detection of materials or processing processes, such as detecting the position, shape, and size of materials, providing feedback information to the control system for precise control and adjustment.

[0050] The feeding chain plate controller Ha1 and the feeding chain plate motor 11 are responsible for conveying the chain plate during the feeding process. The feeding chain plate motor provides power for the movement of the chain plate, ensuring that the material can be accurately and efficiently conveyed to the working area of ​​the feeding robot.

[0051] The cutting chain plate controller Ha2 and the cutting chain plate motor 32 are used for conveying materials on the chain plate during the cutting process. The cutting chain plate motor drives the chain plate line to ensure smooth material transmission in the cutting process.

[0052] The electro-permanent magnet controller H6 and electro-permanent magnet 218 can be used for the adsorption and fixation of materials. The electro-permanent magnet controller controls the on and off of the electro-permanent magnet, thereby realizing the adsorption and release of materials.

[0053] The laser line scanning camera system H5, the feeding robot controller H1, and the cutting robot controller H2 communicate with the main controller system Ht via Ethernet and Modbus TCP protocol. The main controller system Ht controls the cutting chain motor 218 via EtherCAT bus, ensuring precise cutting position of the compressor 7.

[0054] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A compressor-based intelligent cutting device, characterized in that, include: The feeding chain conveyor is used to feed the compressors that are transported from the previous station. The loading robot is located on one side of the loading chain plate line. It is equipped with a laser line scanning camera and a gripper. The loading robot is used to capture images and grasp the compressor. The fireproof room is equipped with a fire damper and smoke exhaust pipe on the top. The fireproof room has automatic doors that can open and close automatically on both sides. The smoke exhaust pipe is connected to a purification device at the end. The cutting chain plate line is set perpendicular to the feeding chain plate line and runs through the fireproof room; A cutting robot is used to cut a compressor located on a cutting chain line according to a path planned by a vision system. The cutting robot includes a base, a robot body, a lifting body connector, a lifting body, and a plasma cutting gun. The robot body is fixed on the base, the lifting body connector is fixed on the end flange of the robot body, and the lifting body is fixed on the lifting body connector. The lifting body has a telescopic shaft inside, and the telescopic shaft is connected to the plasma cutting gun through a cutting fixture.

2. The intelligent compressor cutting device according to claim 1, characterized in that, The fixture includes: A flange is installed at the end of the robot. The flange includes a first flange and a second flange. The first flange and the second flange are arranged opposite to each other and are connected by a connector. An electromagnet mounting plate is disposed on the other side of the second flange relative to the first flange; An electromagnet, which is mounted on an electromagnet mounting plate; A guide shaft, one end of which is perpendicularly connected to the first flange, and the other end of which passes through the second flange and is perpendicularly connected to the electromagnet mounting plate; a linear bearing, which is located on the outer periphery of the guide shaft, with one end fixed to the first flange; The spring limit pin has one end connected to the first flange and the other end connected to the electromagnet mounting plate. The spring is sleeved on the outer periphery of the spring limiting pin, and its two end faces are in contact with the flange mounting plate and the electromagnet mounting plate, respectively.

3. The intelligent compressor cutting device according to claim 1 or 2, characterized in that, The clamps use pneumatic or electric grippers.

4. The intelligent compressor cutting device according to claim 2, characterized in that, The laser line scanner is mounted on the connector via a camera bracket.

5. The intelligent compressor cutting device according to claim 1, characterized in that, The fireproof room consists of a fire wall panel, two automatic doors, and a smoke exhaust duct. The two automatic doors are installed on the fire wall panel, and the smoke exhaust duct is installed on the top of the fire wall panel.

6. The intelligent compressor cutting device according to claim 1, characterized in that, A fixture is installed at the center of the chain plate of the cutting chain plate line. The fixture has a conical groove in the middle to support the compressor, which has a spherical bottom and cannot stand on a flat surface.

Images