A mobile ring wire cutting system based on AGV

Abstract

The utility model discloses a movable annular wire cutting system based on AGV, including AGV dolly, fixed installation platform on the upper surface of AGV dolly and fixedly connected cutting mechanism on the upper surface of installation platform, the cutting mechanism is including fixedly connected mechanical arm on the upper surface of installation platform, sets up the cutting drive assembly of mechanical arm far from installation platform one end and is driven to the diamond cutting ring line of cutting to material through cutting drive assembly, the utility model discloses through AGV dolly, installation platform, mechanical arm, cutting drive assembly, cutting motor and the cooperation of diamond cutting ring line, in the use process, cutting drive assembly drives diamond cutting ring line high -speed circulation, realizes line cutting processing to work piece to make cutting equipment can be moved to target work piece position and complete automatic cutting, solved the problem that traditional fixed cutting equipment can not realize on -the -spot operation, has improved the flexibility and automation degree of cutting operation significantly.

Description

Technical Field

[0001] This utility model relates to the field of automated cutting equipment, specifically a mobile circular wire cutting system based on AGV. Background Technology

[0002] Currently, circular wire EDM equipment is widely used in the cutting and processing of hard and brittle materials such as carbon fiber composites, glass fiber composites, stone, glass, ceramics, concrete, and some new composite materials. Existing circular wire EDM equipment uses a flexible metal ring embedded with diamond particles as a cutting tool to perform grinding-type cutting on the workpiece in high-speed cyclic motion. It has the advantages of narrow kerf, high precision, low stress, and small heat-affected zone, and has gradually replaced the traditional saw blade cutting method.

[0003] However, most existing circular wire EDM equipment is based on a fixed frame structure, in which the main cutting machine is fixedly installed on the workshop floor or a foundation platform, and the cutting position is changed by moving the workpiece. Such equipment usually includes a fixed base, guide wheel assembly, drive motor and robotic arm. Although it can achieve a certain degree of angle adjustment, the overall structure is large and bulky, and it is not suitable for on-site mobile operations. Utility Model Content

[0004] To address the shortcomings of existing technologies, which are mostly based on fixed frame structures, although they can achieve a certain degree of angle adjustment, their overall structure is large and cumbersome, making them unsuitable for on-site mobile operations, this utility model provides a mobile circular wire cutting system based on AGV.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: This utility model discloses a mobile ring wire cutting system based on AGV, including an AGV trolley, an installation platform fixedly installed on the upper surface of the AGV trolley, and a cutting mechanism fixedly connected to the upper surface of the installation platform. The cutting mechanism includes a robotic arm fixedly connected to the upper surface of the installation platform, a cutting drive assembly disposed at the end of the robotic arm away from the installation platform, and a diamond cutting ring wire driven by the cutting drive assembly to cut the material. The cutting drive assembly includes a rotary motor fixedly connected to one side of the end of the robotic arm, a U-shaped cutting frame fixedly connected to the output end of the rotary motor, an active cutting wheel and a driven cutting wheel set on the U-shaped cutting frame. The cutting motor is fixedly connected to one side of the outer wall of the U-shaped cutting frame. The output end of the cutting motor passes through the U-shaped cutting frame and is fixedly connected to the active cutting wheel. The diamond cutting loop is wound around the active cutting wheel and the driven cutting wheel. The U-shaped cutting frame is also provided with a tensioning mechanism for tensioning the diamond cutting loop.

[0006] As a preferred embodiment of this utility model, the tensioning mechanism includes a tensioning groove formed on one side of the outer wall of the U-shaped cutting frame, a tensioning slider slidably connected in the tensioning groove, a tensioning cutting wheel rotatably connected to the side of the outer wall of the tensioning slider near the active cutting wheel, a connecting plate fixedly connected to one side of the outer wall of the tensioning slider, and a tensioning electric push rod fixedly connected to one side of the outer wall of the U-shaped cutting frame, with the output end of the tensioning electric push rod fixedly connected to the connecting plate.

[0007] As a preferred embodiment of this utility model, the outer wall of the U-shaped cutting frame is provided with slide blocks on both sides of the tension groove, and the outer wall of the connecting plate is provided with a connecting slider that is slidably connected to the slide block on the side of the slide block.

[0008] As a preferred embodiment of this utility model, the front end of the AGV is equipped with a distance sensor for detecting the distance to obstacles in the direction of movement.

[0009] As a preferred embodiment of this utility model, the installation platform includes a metal fixing plate fixedly connected to the upper surface of the AGV trolley, a rubber damping layer fixedly connected to the upper surface of the metal fixing plate, and the robotic arm fixedly connected to the upper surface of the rubber damping layer.

[0010] As a preferred embodiment of this utility model, the robotic arm includes a sleeve fixedly connected to the upper surface of the rubber damping layer. A rotating cylinder is rotatably connected to the top of the sleeve. An angle adjustment motor is fixedly connected to the center of the inner top wall of the AGV trolley. The output end of the angle adjustment motor passes through the sleeve and is fixedly connected to the inner top wall of the rotating cylinder. A first rotating arm is rotatably connected to the top of the rotating cylinder. A second rotating arm is rotatably connected to the outer side wall of the first rotating arm away from the rotating cylinder. The rotating cylinder and the first rotating arm, as well as the first and second rotating arms, are rotatably connected via self-driven rotating joints. The rotating motor is fixedly connected to the outer side wall of the second rotating arm away from the first rotating arm.

[0011] In summary, this application has the following beneficial effects: 1. This application utilizes the cooperation of an AGV trolley, an installation platform, a robotic arm, a cutting drive assembly, a cutting motor, and a diamond cutting loop. During use, the AGV trolley completes autonomous movement and precise docking according to the control system instructions. The installation platform provides stable support for the cutting mechanism and achieves vibration isolation. The robotic arm drives the cutting drive assembly to complete posture adjustment and spatial positioning. The cutting drive assembly drives the diamond cutting loop to circulate at high speed, performing wire cutting processing on the workpiece. This enables the cutting equipment to actively move to the target workpiece position to complete automatic cutting, solving the problem that traditional fixed cutting equipment cannot achieve on-site operation and significantly improving the flexibility and automation of cutting operations. 2. This application utilizes the coordination of a tensioning electric actuator, a tensioning slider, a tensioning cutting wheel and a sliding block, and a connecting slider. Before and during the cutting operation, the tensioning electric actuator drives the tensioning slider to slide along the tensioning groove, thereby causing the tensioning cutting wheel to apply tension to the diamond cutting ring. The sliding block and the connecting slider work together to guide the movement, ensuring smooth movement and uniform force on the slider. This achieves dynamic adjustment and constant maintenance of the tension of the diamond cutting ring, preventing the ring from becoming loose or jumping out of the groove during high-speed operation, ensuring smooth ring operation, consistent cuts, and high surface finish. Attached Figure Description

[0012] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of a mobile annular wire cutting system based on AGV according to this utility model. Figure 2 This is a schematic diagram of the cutting motor structure of a mobile circular wire cutting system based on AGV according to this utility model; Figure 3 This is a side sectional view of a mobile annular wire cutting system based on AGV according to this utility model. Figure 4 This utility model relates to a mobile circular wire cutting system based on AGV. Figure 2 Enlarged schematic diagram of the structure at point A in the middle; Figure 5 This is a top-view cross-sectional view of the first rotating arm of a mobile annular wire cutting system based on AGV according to this utility model.

[0013] 1. AGV trolley; 2. Mounting platform; 21. Metal fixing plate; 22. Rubber damping layer; 3. Cutting mechanism; 31. Robotic arm; 311. Sleeve; 312. Rotary drum; 313. Angle adjustment motor; 314. First rotating arm; 315. Second rotating arm; 316. Self-driven rotating joint; 32. Cutting drive assembly; 321. Rotary motor; 322. U-shaped cutting frame; 323. Active cutting wheel; 324. Driven cutting wheel; 325. Cutting motor; 33. Diamond cutting ring; 34. Tensioning mechanism; 341. Tensioning groove; 342. Tensioning slider; 343. Tensioning cutting wheel; 344. Connecting plate; 345. Tensioning electric push rod; 346. Slide; 347. Connecting slider; 4. Distance sensor. Detailed Implementation

[0014] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0015] Example: Please refer to Figure 1 and Figure 2 This utility model discloses a mobile circular wire cutting system based on AGV, including an AGV trolley 1, an installation platform 2 fixedly mounted on the upper surface of the AGV trolley 1, and a cutting mechanism 3 fixedly connected to the upper surface of the installation platform 2. The front end of the AGV trolley 1 is equipped with a distance sensor 4 for detecting the distance to obstacles in the direction of movement. The AGV trolley 1 is a self-moving trolley, and its internal navigation module (visual sensors for recognizing workpiece contours and positioning markers, path planning unit, etc.) is integrated. The bottom of the AGV trolley 1 is equipped with a walking drive mechanism, including two drive wheels and two steering wheels, adopting a dual-drive dual-rudder structure layout, which can achieve on-the-spot turning and smooth driving. The AGV trolley 1 is a common trackless autonomous navigation platform in the prior art, which can autonomously drive and position itself according to the instructions of the control system. It will not be described in detail here. The AGV trolley 1 is connected to the control system by signal, and receives the movement instructions of the control system through the path planning unit to realize the autonomous movement and docking of the equipment from the initial position to the target workpiece position.

[0016] Reference Figure 1 , Figure 2 and Figure 3 The cutting mechanism 3 includes a robotic arm 31 fixedly connected to the upper surface of the mounting platform 2, a cutting drive assembly 32 disposed at the end of the robotic arm 31 away from the mounting platform 2, and a diamond cutting ring 33 driven by the cutting drive assembly 32 to cut the material. The cutting drive assembly 32 includes a rotary motor 321 fixedly connected to one side of the end of the robotic arm 31, a U-shaped cutting frame 322 fixedly connected to the output end of the rotary motor 321, an active cutting wheel 323 disposed on the U-shaped cutting frame 322, and a driven cutting wheel 324. A cutting motor 325 is fixedly connected to one side of the outer wall of the U-shaped cutting frame 322. The output end of the cutting motor 325 passes through the U-shaped cutting frame 322 and is fixedly connected to the active cutting wheel 323. The diamond cutting loop 33 is wound around the active cutting wheel 323 and the driven cutting wheel 324. The cutting motor 325 can drive the active cutting wheel 323 to rotate, thereby driving the diamond cutting loop 33 wound around the active cutting wheel 323 and the driven cutting wheel 324 to rotate cyclically and cut the material in contact with the diamond cutting loop 33 through the diamond particles on its surface.

[0017] Reference Figure 2 , Figure 4 and Figure 5The U-shaped cutting frame 322 is also provided with a tensioning mechanism 34 for tensioning the diamond cutting ring 33. The tensioning mechanism 34 includes a tensioning groove 341 opened on one side of the outer wall of the U-shaped cutting frame 322. A tensioning slider 342 is slidably connected in the tensioning groove 341. A tensioning cutting wheel 343 is rotatably connected to the side of the outer wall of the tensioning slider 342 near the active cutting wheel 323. A connecting plate 344 is fixedly connected to one side of the outer wall of the tensioning slider 342. A tensioning electric actuator 345 is fixedly connected to one side of the outer wall of the U-shaped cutting frame 322. The output end of the tensioning electric actuator 345 is fixedly connected to the connecting plate 344. The output end of the tensioning electric actuator 345 can drive the connecting plate 344, the tensioning slider 342 and the tensioning cutting wheel 343 to slide along the tensioning groove 341, thereby adjusting the annular path of the diamond cutting loop 33 and further adjusting the tension of the diamond cutting loop 33. Slide seats 346 are provided on both sides of the outer wall of the U-shaped cutting frame 322 located in the tensioning groove 341. A connecting slider 347 is slidably connected to the slide seat 346 on the side of the outer wall of the connecting plate 344 near the slide seat 346. During the process of the tension slider 342 sliding along the tension groove 341, the connecting slider 347 fixedly connected to the connecting plate 344 of the tension slider 342 slides along the slide block 346, thereby ensuring that the tension slider 342 moves smoothly and is subjected to balanced force during the movement along the tension groove 341, and thus avoiding the tension slider 342 from lateral displacement and jamming.

[0018] Reference Figure 2 and Figure 3 The installation platform 2 includes a metal fixing plate 21 fixedly connected to the upper surface of the AGV trolley 1. A rubber damping layer 22 is fixedly connected to the upper surface of the metal fixing plate 21. The robotic arm 31 is fixedly connected to the upper surface of the rubber damping layer 22. The metal fixing plate 21 can provide rigid support for the robotic arm 31. At the same time, the rubber damping layer 22 can absorb the cutting vibration of the diamond cutting ring 33 when cutting the material as much as possible, and reduce the vibration transmitted to the AGV trolley 1. The robotic arm 31 includes a sleeve 311 fixedly connected to the upper surface of the rubber damping layer 22. A rotating cylinder 312 is rotatably connected to the top of the sleeve 311. An angle adjustment motor 313 is fixedly connected to the center of the inner top wall of the AGV trolley 1. The output end of the angle adjustment motor 313 passes through the sleeve 311 and is fixedly connected to the inner top wall of the rotating cylinder 312. A first rotating arm 314 is rotatably connected to the top of the rotating cylinder 312. A second rotating arm 315 is rotatably connected to the outer side wall of the first rotating arm 314 away from the rotating cylinder 312. The rotating cylinder 312 and the first rotating arm 314 are rotatably connected to each other and to the first rotating arm 314 and the second rotating arm 315 through a self-driven rotating joint 316. A rotating motor 321 is fixedly connected to the outer side wall of the second rotating arm 315 away from the first rotating arm 314. In use, the angle adjustment motor 313 can drive the rotating drum 312 to rotate around the vertical axis of the sleeve 311, thereby realizing the horizontal angle adjustment of the cutting drive assembly 32 and the diamond cutting ring 33, so that the cutting plane where the diamond cutting ring 33 is located can flexibly turn according to the workpiece position. At the same time, the self-driven rotating joint 316 can drive the first rotating arm 314 to rotate relative to the rotating drum 312 and the second rotating arm 315 to rotate relative to the first rotating arm 314, thereby adjusting the position of the diamond cutting ring 33.

[0019] All electrical components mentioned in this article are connected to an external main controller signal, and the main controller can be a conventional known device such as a computer for control.

[0020] The implementation principle of this utility model is as follows: During operation, the AGV trolley 1 can move autonomously. The AGV trolley 1 is connected to the control system (not shown in the figure) and receives the movement instructions from the control system through the path planning unit, so as to realize the autonomous movement and docking of the equipment from the initial position to the target workpiece position. During the movement, the distance sensor 4 can detect obstacles in front of the AGV trolley 1. When an obstacle is detected, it will automatically avoid it until the AGV trolley 1 reaches the predetermined cutting position. Before cutting, the output end of the tensioning electric actuator 345 can drive the connecting plate 344, the tensioning slider 342 and the tensioning cutting wheel 343 to slide along the tensioning groove 341, thereby adjusting the annular path of the diamond cutting loop 33 and further adjusting the tension of the diamond cutting loop 33 to ensure that the diamond cutting loop 33 is tensioned. Meanwhile, the angle adjustment motor 313 can drive the rotating drum 312 to rotate around the vertical axis of the sleeve 311, thereby realizing the horizontal angle adjustment of the cutting drive assembly 32 and the diamond cutting ring 33, so that the cutting plane of the diamond cutting ring 33 can flexibly turn according to the workpiece position. At the same time, the self-driven rotating joint 316 can drive the first rotating arm 314 to rotate relative to the rotating drum 312 and the second rotating arm 315 to rotate relative to the first rotating arm 314, thereby adjusting the position of the diamond cutting ring 33 and realizing the attitude adjustment and displacement compensation of the diamond cutting ring 33 in multiple directions in space, so that the diamond cutting ring 33 can flexibly align with the cutting area of ​​workpieces of different shapes. Meanwhile, the rotating motor 321 can drive the U-shaped cutting frame 322 to rotate, adjusting the incident angle and cutting direction of the diamond cutting ring 33, ensuring that the cutting surface of the diamond cutting ring 33 is consistent with the normal direction of the workpiece surface. After adjustment, the cutting motor 325 can drive the active cutting wheel 323 to rotate, thereby driving the diamond cutting ring 33, which is wrapped around the active cutting wheel 323 and the driven cutting wheel 324, to rotate cyclically. The diamond particles on its surface cut the material in contact with the diamond cutting ring 33. Then, the self-driven rotating joint 316 drives the first rotating arm 314 to rotate relative to the rotating drum 312, and at the same time drives the second rotating arm 315 to rotate relative to the first rotating arm 314. Thus, the diamond cutting ring 33 gradually contacts the workpiece surface at a small speed and continues to feed at a small speed after contacting the workpiece to stably cut the workpiece. The rubber damping layer 22 has good elasticity and energy absorption performance and can absorb the high-frequency vibration and impact load generated in the process. After the cutting is completed, the cutting motor 325 drives the active cutting wheel 323 to gradually decelerate until it stops. The angle adjustment motor 313 drives the rotating drum 312 to reset, and at the same time, the self-driven rotating joint 316 drives the first rotating arm 314 and the second rotating arm 315 to reset. The AGV trolley 1 drives away from the work area.

[0021] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A mobile circular wire cutting system based on AGV, comprising an AGV trolley (1), an installation platform (2) fixedly mounted on the upper surface of the AGV trolley (1), and a cutting mechanism (3) fixedly connected to the upper surface of the installation platform (2), characterized in that: The cutting mechanism (3) includes a robotic arm (31) fixedly connected to the upper surface of the mounting platform (2), a cutting drive assembly (32) located at one end of the robotic arm (31) away from the mounting platform (2), and a diamond cutting loop (33) driven by the cutting drive assembly (32) to cut the material. The cutting drive assembly (32) includes a rotary motor (321) fixedly connected to one side of the end of the robotic arm (31), a U-shaped cutting frame (322) fixedly connected to the output end of the rotary motor (321), an active cutting wheel (323) and a driven cutting wheel (324) disposed on the U-shaped cutting frame (322). A cutting motor (325) is fixedly connected to one side of the outer wall of the U-shaped cutting frame (322). The output end of the cutting motor (325) passes through the U-shaped cutting frame (322) and is fixedly connected to the active cutting wheel (323). The diamond cutting loop (33) is wound around the active cutting wheel (323) and the driven cutting wheel (324). The U-shaped cutting frame (322) is also provided with a tensioning mechanism (34) for tensioning the diamond cutting loop (33).

2. The mobile circular wire cutting system based on AGV according to claim 1, characterized in that: The tensioning mechanism (34) includes a tensioning groove (341) on one side of the outer wall of the U-shaped cutting frame (322). A tensioning slider (342) is slidably connected in the tensioning groove (341). A tensioning cutting wheel (343) is rotatably connected to the side of the outer wall of the tensioning slider (342) near the active cutting wheel (323). A connecting plate (344) is fixedly connected to one side of the outer wall of the tensioning slider (342). A tensioning electric push rod (345) is fixedly connected to one side of the outer wall of the U-shaped cutting frame (322). The output end of the tensioning electric push rod (345) is fixedly connected to the connecting plate (344).

3. The mobile circular wire cutting system based on AGV according to claim 2, characterized in that: The outer wall of the U-shaped cutting frame (322) is provided with slides (346) on both sides of the tension groove (341), and the outer wall of the connecting plate (344) is provided with a connecting slider (347) that is slidably connected to the slide (346) on the side of the outer wall of the connecting plate (344).

4. The mobile circular wire cutting system based on AGV according to claim 1, characterized in that: The AGV (1) is equipped with a distance sensor (4) at the front end for detecting the distance to obstacles in the direction of movement.

5. The mobile circular wire cutting system based on AGV according to claim 1, characterized in that: The installation platform (2) includes a metal fixing plate (21) fixedly connected to the upper surface of the AGV trolley (1), and a rubber damping layer (22) is fixedly connected to the upper surface of the metal fixing plate (21). The robotic arm (31) is fixedly connected to the upper surface of the rubber damping layer (22).

6. The mobile circular wire cutting system based on AGV according to claim 5, characterized in that: The robotic arm (31) includes a sleeve (311) fixedly connected to the upper surface of the rubber damping layer (22). A rotating cylinder (312) is rotatably connected to the top of the sleeve (311). An angle adjustment motor (313) is fixedly connected to the center of the inner top wall of the AGV trolley (1). The output end of the angle adjustment motor (313) passes through the sleeve (311) and is fixedly connected to the inner top wall of the rotating cylinder (312). A first rotating arm (314) is rotatably connected to the top of the rotating cylinder (312). A second rotating arm (315) is rotatably connected to the outer side wall of the first rotating arm (314) away from the rotating cylinder (312). The rotating cylinder (312) and the first rotating arm (314) are rotatably connected to each other and to the first rotating arm (314) and the second rotating arm (315) through a self-driven rotating joint (316). The rotating motor (321) is fixedly connected to the outer side wall of the second rotating arm (315) away from the first rotating arm (314).

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