An integrated beveling head and intelligent beveling equipment

Abstract

This utility model provides an integrated chamfering head and intelligent chamfering equipment, relating to the chamfering technology field of welding and cutting. The integrated chamfering head includes: a base; a chamfering machine for chamfering steel plates, the chamfering machine being connected to the base and extending along a first direction; a sorting mechanism connected to the base, the sorting mechanism for gripping steel plates, the sorting mechanism extending along a second direction, the first direction intersecting the second direction; a visual recognition device connected to the base, the visual recognition device for visually recognizing steel plates, the visual recognition device performing visual detection towards a third direction, the first direction and the second direction respectively intersecting the third direction; and an automatic flipping device connected to the base and the execution mechanism of the chamfering equipment, respectively, enabling the chamfering equipment to switch between chamfering state, steel plate gripping state, and steel plate visual recognition state.

Description

Technical Field

[0001] This utility model relates to the field of chamfering technology for welding and cutting, and more specifically, to an integrated chamfering head and intelligent chamfering equipment. Background Technology

[0002] In the welding and cutting process, to improve the cutting quality of the workpiece, it is necessary to chamfer the edges of the cut workpiece to meet the requirements of subsequent processing techniques. Although manual chamfering is commonly used in existing technologies, it is inefficient. Therefore, an automatic chamfering device was designed, equipped with a chamfering head for adaptive chamfering, automating the chamfering process of steel plates. Improving the efficiency and accuracy of the chamfering operation is crucial.

[0003] Meanwhile, to improve the production efficiency of welding and cutting production lines, automated sorting equipment and vision recognition equipment are commonly used in conjunction with automated chamfering equipment. The automated sorting equipment quickly picks up and transports steel plates before and after chamfering, while the vision recognition equipment accurately identifies and positions the steel plate before chamfering. This significantly improves the efficiency, automation, and intelligence of the steel plate chamfering operation, thus forming an automated chamfering workstation.

[0004] However, automated sorting equipment, visual recognition equipment, and automated chamfering equipment generally employ actuators such as robotic arms and gantry cranes to achieve automation. This results in multiple actuators being arranged around the worktable, creating a confined space around the worktable. Furthermore, during the research and development process, it is necessary to avoid motion interference between multiple actuators during their movement, ensuring that each actuator operates sequentially according to a pre-defined order.

[0005] This actually hinders the improvement of efficiency in automatic chamfering operations. At the same time, the complex design and excessive number of actuators also make the cost of automatic chamfering workstations too high. Utility Model Content

[0006] To address the above problems, this utility model provides an integrated beveling head for beveling equipment, the integrated beveling head comprising:

[0007] Base;

[0008] A beveling machine for beveling steel plates, the beveling machine being connected to the base and extending along a first direction;

[0009] A sorting mechanism is connected to the base. The sorting mechanism is used to grip steel plates. The sorting mechanism extends along a second direction, and the first direction intersects the second direction.

[0010] A visual recognition device, connected to the base, is used for visually recognizing steel plates. The visual recognition device performs visual detection in a third direction, with the first and second directions intersecting the third direction respectively.

[0011] An automatic flipping device is connected to the base and the actuator of the chamfering device respectively. The automatic flipping device drives the base to flip, so that the chamfering device can switch between chamfering state, steel plate gripping state, and steel plate visual recognition state.

[0012] Optionally, the automatic flipping device is the end effector of a six-degree-of-freedom robotic arm.

[0013] Optionally, the first direction is a vertical direction, and the chamfering cutter of the chamfering machine is arranged vertically downwards.

[0014] The angle between the second direction and the first direction is an acute angle. An electromagnet is provided at the bottom of the sorting mechanism, and the electromagnet is used to attract and grip the steel plate.

[0015] Optionally, the third direction extends horizontally, and the first direction and the second direction are respectively perpendicular to the third direction.

[0016] Optionally, the base includes:

[0017] A top plate is horizontally positioned below the automatic flipping device, and the top plate is connected to the automatic flipping device;

[0018] Two upright plates are respectively disposed on the left and right sides of the top plate. The two upright plates are arranged parallel to each other and are connected to the top plate. The visual recognition device is disposed on one of the upright plates.

[0019] A front side plate is erected on the front side of the upright plate. The front side plate is connected to the two upright plates and the top plate respectively. The chamfering machine is connected to the front side plate.

[0020] A rear side plate is disposed on the rear side of the two upright plates, and the rear side plate is connected to the two upright plates respectively. The sorting mechanism is connected to the rear side plate.

[0021] Optionally, the base further includes a mounting plate and a plurality of pads, the upright plate has a through hole, the mounting plate covers the through hole, the mounting plate and the upright plate are spaced apart, the mounting plate is detachably connected to the upright plate through the plurality of pads, and the visual recognition device is disposed on the mounting plate.

[0022] Optionally, an extension plate is connected to the front end of the upright plate adjacent to the mounting plate. The visual recognition device includes a line-scanning laser and an image acquisition device. The image acquisition device is located on the mounting plate and performs visual detection in the direction of the third direction. The line-scanning laser is located on the extension plate, and the direction of the laser emitted by the line-scanning laser intersects with the third direction.

[0023] Optionally, the through hole is a rectangular through hole, and each of the upright plates has the through hole.

[0024] Optionally, the two upright plates, the front side plate, and the rear side plate are all disposed on the bottom surface of the top plate.

[0025] The sidewall of the chamfering machine is connected to the front side plate, and a column is connected to the top of the top plate. The automatic tilting device is connected to the column.

[0026] The rear side plate serves as the base of the sorting mechanism, and the rear side plate is inclined downwards towards the top plate, as is the sorting mechanism.

[0027] In addition, this utility model also provides an intelligent chamfering device, including the integrated chamfering head mentioned above.

[0028] The technical effects of this utility model include at least the following:

[0029] In operation, the automatic tilting device first aligns the sorting mechanism vertically downwards, cooperating with the execution mechanism to grasp and transport the steel plate to be chamfered. Then, the automatic tilting device aligns the third direction of the vision recognition device vertically downwards, and the execution mechanism visually recognizes the dimensional parameters of the steel plate to be chamfered. Next, the automatic tilting device tilts the base again, aligning the chamfering machine vertically downwards, and the execution mechanism then performs the chamfering operation on the edges of the steel plate. After the chamfering operation is completed, the automatic tilting device tilts the base again, aligning the sorting mechanism vertically downwards, and the chamfered steel plate is grasped and transported away. This completes the sorting, vision recognition, and chamfering operations.

[0030] In this invention, a sorting mechanism, a visual recognition device, and a chamfering machine are integrated into a base. An automated chamfering workstation, integrating automatic sorting, visual positioning, and automatic chamfering, is achieved solely through the chamfering machine's actuator. The chamfering machine extends along a first direction, the sorting mechanism extends along a second direction, and the visual recognition device performs visual detection towards a third direction. The first and second directions intersect with the third direction, preventing interference between the chamfering machine, sorting mechanism, and visual recognition device during individual operations. In particular, it avoids collisions between the sorting mechanism, visual recognition device, or chamfering machine during the automatic tilting process that rotates the base. This ensures the integrity of the entire integrated chamfering head and prevents damage.

[0031] In this way, by integrating the base, chamfering machine, sorting mechanism, visual recognition device, and automatic flipping device into one unit, the complexity of automated chamfering operations is simplified, the number of actuators is reduced, and the manufacturing cost of the automated chamfering workstation is lowered. At the same time, it avoids interference between multiple robotic arms, thereby simplifying the execution process of the actuators and improving the efficiency of intelligent automated chamfering. Attached Figure Description

[0032] Figure 1 A schematic perspective view of the integrated chamfering head according to a specific embodiment of the present utility model;

[0033] Figure 2 Another schematic perspective view of the integrated chamfering head according to a specific embodiment of the present utility model;

[0034] Figure 3 This is another schematic perspective view of the integrated chamfering head according to a specific embodiment of the present utility model. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this utility model. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it. Embodiments of this utility model can be implemented in many ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0036] It is understood that the terms "first," "second," etc., used in this utility model may be used to describe various technical terms herein, but should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. However, unless specifically stated otherwise, these technical terms are not limited by these terms. These terms are only used to distinguish one technical term from another. For example, without departing from the scope of this utility model, the first receiving device and the second receiving device are different receiving devices, the first surface and the second surface are different surfaces, and the first plane, the second plane, the third plane, and the fourth plane are different planes. In the description of the embodiments of this utility model, "a plurality of" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In the description of the embodiments of this utility model, unless otherwise expressly specified and limited, the terms "installation," "connection," "setting," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model according to the specific circumstances.

[0038] In the description of the embodiments of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the horizontal height of the first feature is higher than the horizontal height of the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0039] It should be noted that when a component is referred to as "fixed to" or "set on" another component, or similar terms such as "fixed to" or "set on," it can be directly on the other component or may have an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or may have an intervening component.

[0040] In addition, in the attached figures, the Z-axis represents the vertical direction, that is, the up-down direction, and the positive direction of the Z-axis (that is, the direction the arrow points to) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; in the attached figures, the Y-axis represents the front-back direction, and the positive direction of the Y-axis (that is, the direction the arrow points to) represents forward, and the negative direction of the Y-axis (that is, the direction opposite to the positive direction of the Y-axis) represents backward; in the attached figures, the X-axis represents the left-right direction; it should also be noted that the aforementioned representations of the Z-axis, Y-axis and X-axis are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0041] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0042] See Figures 1 to 3 This embodiment provides an integrated beveling head for beveling equipment, the integrated beveling head comprising:

[0043] Base 1;

[0044] Beveling machine 2 is used to beveling steel plates. The beveling machine 2 is connected to the base 1 and extends along a first direction A.

[0045] Sorting mechanism 3 is connected to base 1. Sorting mechanism 3 is used to grab steel plate. Sorting mechanism 3 extends along second direction B. First direction A intersects second direction B.

[0046] Visual recognition device 4, connected to the base 1, is used for visually recognizing steel plates. The visual recognition device 4 performs visual detection in a third direction C, where the first direction A and the second direction B intersect with the third direction C.

[0047] The automatic flipping device 5 is connected to the base 1 and the actuator of the chamfering device respectively. The automatic flipping device 5 drives the base 1 to flip, so that the chamfering device can switch between the chamfering state, the steel plate gripping state, and the steel plate visual recognition state.

[0048] It should be noted that the automatic flipping device 5 here is connected to the actuator of the chamfering device. The actuator can be a robotic arm or a gantry, as long as it can move the base 1 to any designated position.

[0049] It should be noted that the intersections in this embodiment include perpendicular intersections, intersections at acute angles, or intersections at obtuse angles.

[0050] In addition, the chamfering machine 2 in this embodiment can be a floating chamfering machine 2, which achieves floating chamfering through the cooperation of a joint bearing and a multi-directional elastic reset mechanism. Furthermore, the chamfering machine 2 is equipped with an electric spindle, which is detachably connected to the chamfering cutter 21 below it. The electric spindle drives the chamfering cutter 21 to rotate, thereby realizing the chamfering operation of the chamfering cutter 21 on the edge of the steel plate.

[0051] In operation, the automatic flipping device 5 first aligns the sorting mechanism 3 vertically downwards, cooperating with the actuator to grip and transport the steel plate to be chamfered. Then, the automatic flipping device 5 again aligns the third direction C of the vision recognition device 4 vertically downwards, and, driven by the actuator, visually recognizes the dimensional parameters of the steel plate to be chamfered. Next, the automatic flipping device 5 again flips the base 1, aligning the chamfering machine 2 vertically downwards, and, driven by the actuator, performs chamfering on the edges of the steel plate. After the chamfering is completed, the automatic flipping device 5 again aligns the base 1 vertically downwards, aligning the sorting mechanism 3 vertically downwards, and gripping and transporting the chamfered steel plate. This completes the sorting, vision recognition, and chamfering operations.

[0052] In this embodiment, the sorting mechanism 3, the visual recognition device 4, and the chamfering machine 2 are integrated into the base 1. An automated chamfering workstation integrating automatic sorting, visual positioning, and automatic chamfering is achieved solely through the chamfering device's actuator. The chamfering machine 2 extends along a first direction A, the sorting mechanism 3 extends along a second direction B, and the visual recognition device 4 performs visual detection towards a third direction C. The first direction A and the second direction B intersect with the third direction C, preventing interference between the chamfering machine 2, the sorting mechanism 3, and the visual recognition device 4 during their individual operations. In particular, it prevents collisions between the sorting mechanism 3, the visual recognition device 4, or the chamfering machine 2 during the automatic flipping device 5's rotation of the base 1. This ensures the integrity of the entire integrated chamfering head and prevents damage.

[0053] In this way, by integrating the base 1, chamfering machine 2, sorting mechanism 3, visual recognition device 4, and automatic flipping device 5 into one unit and working together, the complexity of the automated chamfering operation is simplified, the number of actuators is reduced, and the manufacturing cost of the automated chamfering workstation is lowered. At the same time, it avoids mutual interference that can occur when multiple robotic arms work together, thereby simplifying the action execution process of the actuators and improving the efficiency of intelligent automated chamfering.

[0054] Furthermore, the automatic flipping device 5 is the end effector of a six-degree-of-freedom robotic arm.

[0055] By taking advantage of the high flexibility of the six-degree-of-freedom robotic arm, especially its strong end effector flexibility and variety of flipping methods, it is ensured that the first direction A, the second direction B, and the third direction C can be successfully flipped to face vertically downwards.

[0056] Furthermore, the first direction A is a vertical direction, and the chamfering cutter 21 of the chamfering machine 2 is set vertically downwards.

[0057] The angle between the second direction B and the first direction A is an acute angle. An electromagnet 31 is provided at the bottom of the sorting mechanism 3. The electromagnet 31 is used to attract and grip the steel plate.

[0058] The chamfering cutter 21 of the chamfering machine 2 is set vertically downwards, so that the chamfering operation is in normal state, which facilitates rapid chamfering. At the same time, the angle between the second direction B and the first direction A is an acute angle, which reduces the switching time between chamfering and sorting operations. After sorting, the automatic flipping device 5 drives the base 1 to flip by an acute angle, which can quickly realize the switch from sorting state to chamfering state.

[0059] Furthermore, the third direction C extends horizontally, and the first direction A and the second direction B are respectively set perpendicular to the third direction C.

[0060] In this way, regardless of whether sorting or chamfering is being performed, the third direction C of the visual recognition device 4 is always horizontal, and the lenses of the visual detectors of the visual recognition device 4 are all set in a horizontal direction, thereby avoiding damage to the optical components of the visual recognition device 4 during sorting or chamfering operations. Moreover, visual recognition is not as frequently used as sorting, so this approach not only protects the visual recognition device 4 but also avoids affecting the switching efficiency due to improper placement of the visual recognition device 4.

[0061] Furthermore, the base 1 includes:

[0062] The top plate 11 is horizontally positioned below the automatic flipping device 5, and the top plate 11 is connected to the automatic flipping device 5;

[0063] Two upright plates 12 are respectively disposed on the left and right sides of the top plate 11. The two upright plates 12 are arranged parallel to each other and are connected to the top plate 11 respectively. The visual recognition device 4 is disposed on one of the upright plates 12.

[0064] The front side plate 15 is erected on the front side of the upright plate 12. The front side plate 15 is connected to the two upright plates 12 and the top plate 11 respectively. The chamfering machine 2 is connected to the front side plate 15.

[0065] The rear side plate 16 is disposed on the rear side of the two upright plates 12. The rear side plate 16 is connected to the two upright plates 12 respectively, and the sorting mechanism 3 is connected to the rear side plate 16.

[0066] The base 1 is formed by splicing together the top plate 11, two vertical plates 12, front side plate 15 and rear side plate 16, which reduces the weight of the base 1 and ensures the overall structural strength of the base 1.

[0067] Furthermore, the base 1 also includes a mounting plate 17 and a plurality of pads 18. The upright plate 12 has a through hole 13. The mounting plate 17 covers the through hole 13. The mounting plate 17 and the upright plate 12 are spaced apart. The mounting plate 17 is detachably connected to the upright plate 12 through the plurality of pads 18. The visual recognition device 4 is disposed on the mounting plate 17.

[0068] The visual recognition device 4 is positioned on the mounting plate 17, allowing the corresponding wire harness of the visual recognition device 4 to be inserted into the through hole 13 through the mounting plate 17, facilitating the installation of the wire harness of the visual recognition device 4 and placing the wire harness inside the base 1 for easy installation and protection.

[0069] Furthermore, an extension plate 14 is connected to the front end of the upright plate 12 adjacent to the mounting plate 17. The visual recognition device 4 includes a line-scanning laser 41 and an image acquisition device 42. The image acquisition device 42 is located at the mounting plate 17 and performs visual detection in the direction of the third direction C. The line-scanning laser 41 is located at the extension plate 14, and the direction of the laser emitted by the line-scanning laser 41 intersects with the direction of the third direction C.

[0070] The extension plate 14 facilitates the installation of the line-scan laser type visual recognition device 4.

[0071] Furthermore, the through hole 13 is a rectangular through hole 13, and the through hole 13 is provided at each of the upright plates 12.

[0072] The rectangular through-hole 13 increases the space through which the wire harness passes.

[0073] Furthermore, the two upright plates 12, the front side plate 15, and the rear side plate 16 are all disposed on the bottom surface of the top plate 11.

[0074] The side wall of the chamfering machine 2 is connected to the front side plate 15, and the top of the top plate 11 is connected to the column 19. The automatic flipping device 5 is connected to the column 19.

[0075] The rear side plate 16 is the base 1 of the sorting mechanism 3. The rear side plate 16 is inclined downward toward the top plate 11, and the sorting mechanism 3 is inclined downward toward the top plate 11.

[0076] This configuration prevents the automatic flipping device 5 from interfering with the movement of the two upright plates 12, the front side plate 15, and the rear side plate 16.

[0077] In addition, this embodiment also provides an intelligent beveling device, including the integrated beveling head. Since the technical effects achieved by this intelligent beveling device are the same as those of the integrated beveling head, the intelligent beveling device will not be explained further.

[0078] Although the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An integrated chamfering head, characterized in that, For beveling equipment, the integrated beveling head includes: Base; A beveling machine for beveling steel plates, the beveling machine being connected to the base and extending along a first direction; A sorting mechanism is connected to the base. The sorting mechanism is used to grip steel plates. The sorting mechanism extends along a second direction, and the first direction intersects the second direction. A visual recognition device, connected to the base, is used for visually recognizing steel plates. The visual recognition device performs visual detection in a third direction, with the first and second directions intersecting the third direction respectively. An automatic flipping device is connected to the base and the actuator of the chamfering device respectively. The automatic flipping device drives the base to flip, so that the chamfering device can switch between chamfering state, steel plate gripping state, and steel plate visual recognition state.

2. The integrated chamfering head according to claim 1, characterized in that, The automatic flipping device is the end effector of a six-degree-of-freedom robotic arm.

3. The integrated chamfering head according to claim 1, characterized in that, The first direction is the vertical direction, and the chamfering cutter of the chamfering machine is set vertically downwards. The angle between the second direction and the first direction is an acute angle. An electromagnet is provided at the bottom of the sorting mechanism, and the electromagnet is used to attract and grip the steel plate.

4. The integrated chamfering head according to claim 3, characterized in that, The third direction extends horizontally, and the first direction and the second direction are respectively perpendicular to the third direction.

5. The integrated chamfering head according to claim 1, characterized in that, The base includes: A top plate is horizontally positioned below the automatic flipping device, and the top plate is connected to the automatic flipping device; Two upright plates are respectively disposed on the left and right sides of the top plate. The two upright plates are arranged parallel to each other and are connected to the top plate. The visual recognition device is disposed on one of the upright plates. A front side plate is erected on the front side of the upright plate. The front side plate is connected to the two upright plates and the top plate respectively. The chamfering machine is connected to the front side plate. A rear side plate is disposed on the rear side of the two upright plates, and the rear side plate is connected to the two upright plates respectively. The sorting mechanism is connected to the rear side plate.

6. The integrated chamfering head according to claim 5, characterized in that, The base also includes a mounting plate and multiple pads. The upright plate has a through hole, and the mounting plate covers the through hole. The mounting plate and the upright plate are spaced apart. The mounting plate is detachably connected to the upright plate through multiple pads. The visual recognition device is located on the mounting plate.

7. The integrated chamfering head according to claim 6, characterized in that, An extension plate is connected to the front end of the upright plate adjacent to the mounting plate. The visual recognition device includes a line-scanning laser and an image acquisition device. The image acquisition device is located on the mounting plate and performs visual detection in the direction of the third direction. The line-scanning laser is located on the extension plate and emits laser light in a direction that intersects with the third direction.

8. The integrated chamfering head according to claim 6, characterized in that, The through hole is a rectangular through hole, and each of the upright plates has the through hole.

9. The integrated chamfering head according to any one of claims 5 to 8, characterized in that, The two upright plates, the front side plate, and the rear side plate are all disposed on the bottom surface of the top plate. The sidewall of the chamfering machine is connected to the front side plate, and a column is connected to the top of the top plate. The automatic tilting device is connected to the column. The rear side plate serves as the base of the sorting mechanism, and the rear side plate is inclined downwards towards the top plate, as is the sorting mechanism.

10. An intelligent chamfering device, characterized in that, Includes the integrated chamfering head as described in any one of claims 1 to 9.

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