CN113601259A - Automatic flash cutting machine and control method thereof - Google Patents
Automatic flash cutting machine and control method thereof Download PDFInfo
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- CN113601259A CN113601259A CN202110442037.XA CN202110442037A CN113601259A CN 113601259 A CN113601259 A CN 113601259A CN 202110442037 A CN202110442037 A CN 202110442037A CN 113601259 A CN113601259 A CN 113601259A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
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Abstract
The invention relates to an automatic flash cutting machine and a control method thereof. An air compressor, a cable winder, a dust remover, a robot control cabinet, an AGV control cabinet, an electric control cabinet and mechanical arms are arranged on the AGV trolley. The AGV is a platform for bearing the mechanical arm, the cutting tool, the dust removing equipment and switching. The control method comprises the steps that the control system controls the working state of the mechanical arm, the cutting tool is adjusted to cut along the cutting line, and the working state of the mechanical arm comprises an initial state, a detection state and a cutting state. And the mechanical arm is retracted in the initial state, so that collision is avoided. And stretching out the mechanical arm to move along the cutting line in the detection state, and recording the three-dimensional coordinate. And in the cutting state, the cutter cuts along the cutting line. The structure of the flash cutting machine is optimized, the position of the cutting tool is automatically adjusted, the blade flashes are marked, identified and cut, and the quality of trimming and the flexibility and the intelligent degree of production are improved.
Description
Technical Field
The invention belongs to the technical field of industrial processing, and relates to an automatic flash cutting machine and a control method thereof.
Background
The wind power blade is formed by molding an upper blade and a lower blade in different molds and then closing and bonding the molds. Due to the limitation of the production process, redundant glass fiber reinforced plastic flash is generated at the bonding part of the die closing seam, and the performance and the appearance of the blade are greatly influenced. Therefore, the formed blade can enter the next process after the redundant flash is accurately cut off.
At present, in the side cut production process of wind-powered electricity generation blade, there is the main problem of: the production process usually adopts manual cutting, before the worker cuts the edge, the worker needs to carefully check the position of the cut edge, determine the posture of the cut edge and the cutting track of the cutter, wear a dust-proof mask and wear a special work clothes. A cutting machine driven by an electric motor and a pneumatic motor is held by an edge cutting worker, blades are cut according to a pre-planned path, and a dust collector is held by the other person to move along with the edge cutting worker and suck away dust generated by cutting. For the flash at the higher part of the local position, workers need to cut the edge of the blade through the elevated platform, and the manual operation is high in strength and long in operation time. And in the blade cutting process, the raise dust collection efficiency is low, the workshop operation environment is poor, the environmental protection requirement cannot be met, and the trimming process has great potential safety hazard and occupational health risk.
The invention discloses 'full-pneumatic cutting equipment for the front edge and the rear edge of a wind power blade', which is published in the patent of invention No. CN106424939B, improves a beveling tool, reduces the manual operation intensity to a certain extent, improves the mechanization degree of the tool, but is manual operation essentially, and the labor intensity and the cutting precision are not improved fundamentally. The utility model discloses a utility model patent with the grant number of CN206335630U relates to a "wind-powered electricity generation blade cuts edge special band saw", installed the camera additional at the cutting means part and monitored cutting information and send the controller to, the rotation and the position of controller control cutting means, but there is the artifical cutting position that adjusts of needs, artifical discernment cutting orbit scheduling problem, it is poor to the blade appearance adaptability of different models, need artifical frequent adjustment, equipment intelligent level is lower, can not satisfy future wind-powered electricity generation blade automated production demand.
The patent application with patent publication number CN109501084A proposes an edge cutting device using a mobile robot, where a robot platform needs to be provided with a guide rail, and a blade needs to be rotated by a rotating support device during the cutting process, so as to scan the outline of the blade in advance. This patent is wasted time and energy, and is unfavorable for the operating mode that workshop layout often adjusted.
Disclosure of Invention
The invention aims to provide an automatic flash cutting machine, which optimizes the structure of the flash cutting machine, automatically adjusts the position of a cutting tool, performs scribing identification on blade flashes, and performs cutting along a cutting line, thereby improving the flexibility and the intelligent degree of production, avoiding errors caused by manual operation, and improving the quality of trimming. The invention also aims to provide a control method of the automatic flash cutting machine.
The technical scheme of the invention is as follows: an automatic flash cutting machine mainly comprises an AGV trolley, a vision recognition camera, a cutting tool, a dust removal system and a control system. An air compressor, a cable winder, a dust remover, a robot control cabinet, an AGV control cabinet, an electric control cabinet and mechanical arms are arranged on the AGV trolley. The dust removal system comprises a waste basket, a dust remover and a dust collection opening, wherein the waste basket is arranged on the side surface of the AGV trolley and close to the position of the blade, and the waste basket moves along with the AGV trolley to collect the flash falling after cutting off. The cutting tool comprises a cutter and a cutting head, the cutter is installed at the cutting head, the visual recognition camera, the dust collection port and the cutting head are located at the tail end of the mechanical arm, and the dust collection port is connected to the waste basket through the dust remover. The control system comprises a robot control cabinet, an AGV control cabinet and a system integration control cabinet. The AGV is a platform for bearing the mechanical arm, the cutting tool, the dust removing equipment and switching the working position.
The method comprises the steps of shooting a cutting line image by a vision recognition camera, calculating the plane position of the center of the cutting line, converting the three-dimensional coordinate of the cutting line by combining the vertical distance between the vision recognition camera and a flash during shooting, superposing the three-dimensional coordinate of the cutting line into a mechanical arm coordinate system, calculating the walking track during cutting by a cutter, and calculating the motion track of the constant horizontal distance between an AGV trolley and a blade by combining the distance between the initial position of the AGV trolley and the blade.
And distance measuring sensors are arranged at the front, the back and the side surfaces of the AGV trolley and are used for detecting the distance from the AGV trolley to the blade tip or/and the support in the running process. The control system comprises an initial module, a detection module, a cutting module and a return module. When the edge cutting operation of the initial module is started, the blades are horizontally placed, and the initial position of the AGV is set near the blade root front edge support. The detection module comprises a scanning cutting line, image preprocessing, image extraction and a coordinate calculation program. The cutting module comprises a prop positioning program, a cutter lowering program, a cutter cutting program along a track, a cutter withdrawing program and a waste edge cutting program. The returning module comprises a position judging function, and if the bracket or/and the blade tip are met, the mechanical arm returns by detour. If no bracket or/and blade tip is encountered, the trimming operation is finished.
The invention relates to a control method of an automatic flash cutting machine.A control system automatically adjusts the position of a cutting tool to cut along a cutting line by controlling the working state of a mechanical arm, the working state of the mechanical arm comprises an initial state, a detection state, a cutting state and a return state, and the control process comprises the following steps:
firstly, an initial state: the blade is horizontally placed, and the position near the blade root front edge support is set as the initial position of the AGV. And the manual remote control AGV enters an initial position, is parallel to the axial direction of the pitch circle of the blade root, and has a distance L from the blade flash.
The detection state is as follows: starting the automatic burr cutting machine, extending out the mechanical arm, finding a manually-scribed cutting line right above the burr, automatically adjusting the position of a visual identification camera at the tail end of the mechanical arm to enable the center of a view field of the mechanical arm to be located right above the cutting line, scanning along the scribing position, converting three-dimensional coordinates of the cutting line through image processing, image extraction and coordinate calculation, and completing the cutting line detection of the current station.
The cutting state: and the cutting tool at the tail end of the mechanical arm arrives at a position with a distance right above the cutting starting point according to the calculated cutting track coordinate, and the cutter and the lower cutter are started to cut along the cutting track coordinate. And after the cutting end point is reached, the mechanical arm drives the cutting tool at the tail end to retract, and the flange is transversely cut off by taking the cutting end point as a reference, so that the flange falls into the waste basket.
Fourth, returning to the state: after cutting is completed, the mechanical arm returns to the initial state, the AGV moves forwards for a distance according to the advancing track coordinate, and the detection and cutting processes are carried out again.
And distance measuring sensors are arranged at the front, the back and the side surfaces of the AGV trolley, and when the tip of the blade or/and the support is detected in the running process of the AGV trolley, the support is bypassed according to the detection distance. When the mechanical arm is in a detection state, if the visual recognition camera recognizes the tail end of the blade tip, the current flash cutting is completed, the AGV sends out an alarm, the AGV is manually remotely controlled to move to the initial position of the blade tip of the front edge, and the trimming operation is restarted.
Step two in the control system record vision identification camera's coordinate f1(x, y, z), and the perpendicular distance H from the cut line during camera movement. According to the fixed coordinate deviation value of the cutting tool and the visual recognition camera at the tail end mounting position of the mechanical arm, calculating the cutting track coordinate f of the cutting tool at the current station2(x +. DELTA.x, y +. DELTA.y, z + H) and the start and end point coordinates are recorded.
Wherein:
x is the x-axis coordinate of the center point position of the camera in the mechanical arm coordinate system, and is mm;
y is the y-axis coordinate, mm, of the camera center point position in the mechanical arm coordinate system;
z is the z-axis coordinate of the central point of the camera in the mechanical arm coordinate system, and is mm;
h is the vertical distance, mm, between the camera center point position and the cutting line.
For image processingCalculating the plane locus coordinates g of the cutting line1(m, n). Calculating a plane track coordinate g of the AGV when the current station and the blade keep constant horizontal distance movement by combining the distance L between the AGV and the blade flash2＝(m+L,n)。
Wherein: g1Is the plane track coordinate of the cutting line, mm;
g2the plane track coordinate of the AGV is mm;
m is the coordinate of the plane track of the cutting line on the x axis of the mechanical arm coordinate system, and is mm;
n is the coordinate of the plane track of the cutting line on the y axis of the mechanical arm coordinate system, and is mm;
and L is the distance between the center point of the AGV trolley and the center of the blade flash cutting line on the x axis in the mechanical arm detection state, and is mm.
The identification process of the visual identification camera is as follows:
the method includes the steps that when the AGV trolley is in a stopped state, a visual recognition camera at the tail end of a mechanical arm comes above a flange, the position of the mechanical arm is finely adjusted to enable a cutting line to be located in the visual field of the visual recognition camera, the visual recognition camera keeps the optimal shooting height H in the direction perpendicular to the flange, and the position of the cutting line is primarily recognized.
And continuously moving the camera along the fins by visual recognition, shooting images at fixed horizontal intervals, integrating coordinate values, and removing the overlapped part coordinates of the starting point of each image cutting line and the terminal point of the previous image cutting line to form a complete cutting line track.
Thirdly, filtering and preprocessing the shot image, converting the image into a gray image, and extracting the position of the cutting line by using a threshold segmentation method.
Fourthly, according to the position of the inner cutting line in the visual field area of the visual recognition camera and the position of the visual recognition camera in a mechanical arm coordinate system, and calculating the plane coordinate and the three-dimensional coordinate track of the cutting line.
The invention optimizes the structure of the automatic flash cutting machine, can automatically adjust the position of a cutting tool and perform marking recognition on the blade flash, and performs cutting along the cutting line. Compared with the prior art, the invention has the beneficial effects that: the method has the advantages that the blade flash is automatically marked, identified and cut, manual operation is reduced, errors caused by physical limitation and different operation proficiency of workers are avoided, and the trimming quality is improved. Secondly, an AGV trolley is used as a bearing platform, path planning is carried out according to the position of the cutting line, a guide rail does not need to be installed on the ground, an auxiliary guide device does not need to be installed on the ground or the wall surface, the support can be bypassed, and the flexibility and the intelligent degree of production are improved. And automatic trimming reduces the occupation of trimming working hours and the influence on production beats. And the dust removal system and the waste collection mechanism are attached to the equipment, so that dust generated in the trimming process can be effectively collected, the working environment of a workshop is improved, and the occupational health risk of staff is reduced.
Drawings
FIG. 1 is a schematic structural diagram of an automatic flash cutting machine according to the present invention;
FIG. 2 is a block flow diagram of a trim control system;
FIG. 3 is a flow chart of a visual recognition camera recognition process;
wherein: the system comprises an air compressor, a cable winder, a waste basket, a robot control cabinet, a dust remover, a robot control cabinet, a dust remover, an AGV control cabinet, a robot control cabinet, an electric control cabinet, an AGV trolley, a mechanical arm, a vision recognition camera, a cutting head, a detection module, a cutting module and a returning module, wherein the air compressor is 1-air compressor, the cable winder is 2-3-waste basket, the robot control cabinet is 4-5-dust remover, the AGV control cabinet is 6-AGV control cabinet, the vision recognition camera is 10-cutting head, the detection module is 12-detection module, the cutting module is 13-cutting module and the returning module is 14-returning module.
Detailed Description
The present invention will be described in detail with reference to the following examples and drawings. The scope of protection of the invention is not limited to the embodiments, and any modification made by those skilled in the art within the scope defined by the claims also falls within the scope of protection of the invention.
The automatic burr cutting machine of the invention is mainly composed of an AGV trolley 8, a visual recognition camera 10, a cutting tool, a dust removal system and a control system, as shown in figure 1. The AGV trolley is provided with an air compressor 1, a cable winder 2, a dust remover 5, a robot control cabinet 4, an AGV control cabinet 6, an electric control cabinet 7 and a mechanical arm 9. The dust removal system comprises a waste basket 3, a dust remover 5 and a dust collection opening, wherein the waste basket is arranged on the side surface of the AGV trolley and close to the position of the blade, and the waste basket collects the flash falling off after being cut off along with the movement of the AGV trolley. The cutting tool comprises a cutter and a cutting head 11, the cutter is arranged at the cutting head, the visual recognition camera, the dust collection port and the cutting head are positioned at the tail end of the mechanical arm, and the dust collection port is connected to the waste basket 3 through a dust remover 5. The AGV is a platform for bearing the mechanical arm, the cutting tool, the dust removing equipment and switching the working position. The visual recognition camera 10 shoots cutting line images, calculates the plane position of the center of the cutting line, converts the three-dimensional coordinates of the cutting line by combining the vertical distance between the visual recognition camera and the flash during shooting, superposes the three-dimensional coordinates into a mechanical arm coordinate system, calculates the walking track during cutting of the cutter, and calculates the motion track of the constant horizontal distance between the AGV trolley 8 and the blade by combining the distance between the AGV trolley 8 initial position and the blade. And (4) the cutting tool is hovered above the initial cutting position according to the calculated cutting track, and then the cutter is started to execute a series of actions of cutting along the cutting line, cutting off the flash and retracting the cutter. And distance measuring sensors are arranged at the front, the back and the side surfaces of the AGV trolley 8 and are used for detecting the distance from the AGV trolley to the blade tip or/and the support in the running process.
The control system is communicated with the visual recognition camera, the cutting tool, the dust removal system, the robot control cabinet, the AGV control cabinet and the AGV trolley. As shown in fig. 2, the control system includes an initial module, a detection module 12, a cutting module 13, and a return module 14. When the edge cutting operation of the initial module is started, the blades are horizontally placed, and the initial position of the AGV is set near the blade root front edge support. The detection module 12 includes scanning the cut line, image preprocessing, extracting the image, and a coordinate calculation program. The cutting module comprises a prop positioning program, a cutter lowering program, a cutter cutting program along a track, a cutter withdrawing program and a waste edge cutting program. The return module 14 includes position determination functionality, and the robotic arm is routed back if a cradle or/and blade tip is encountered. If no bracket or/and blade tip is encountered, the trimming operation is finished.
The control method of the automatic flash cutting machine comprises the steps that a control system automatically adjusts the position of a cutting tool to cut along a cutting line by controlling the working state of a mechanical arm 9, and the working state of the mechanical arm 9 comprises an initial state, a detection state, a cutting state and a return state. And the mechanical arm is retracted in the initial state, so that the AGV trolley is prevented from colliding with the blade appearance or the bracket in the running process. And (3) stretching out the mechanical arm in a detection state, automatically adjusting each shaft to enable a visual recognition camera at the tail end of the machine to come right above the cutting line, enabling the center line of the view field to be vertical to the ground, enabling the view field to be at a fixed distance from the cutting line on the flash in the vertical direction, enabling the mechanical arm to move along the cutting line, and recording the three-dimensional coordinate in the process. And in the cutting state, the mechanical arm compensates the coordinates of the detection state, so that the cutter can cut along the cutting line. The specific control process is as follows:
firstly, an initial state: the blade is horizontally placed, and the position near the blade root leading edge support is set as the initial position of the AGV 8. And the AGV enters an initial position through manual remote control, is parallel to the axis direction of the blade root pitch circle, and has a distance L from the blade flash.
The detection state is as follows: starting the automatic burr cutting machine, extending the mechanical arm 9 out of the position above the burrs to find a manually-cut cutting line, automatically adjusting the position of a visual identification camera at the tail end of the mechanical arm to enable the visual field center of the visual identification camera to be located right above the cutting line, scanning along the position of the cutting line, converting three-dimensional coordinates of the cutting line through image processing, image extraction and coordinate calculation, and completing the detection of the cutting line at the current station. At the same time, the coordinates f of the visual recognition camera are recorded1(x, y, z), and the perpendicular distance H from the cut line during camera movement. According to the fixed coordinate deviation value of the cutting tool and the visual recognition camera at the tail end mounting position of the mechanical arm, calculating the cutting track coordinate f of the cutting tool at the current station2(x +. DELTA.x, y +. DELTA.y, z + H) and the start and end point coordinates are recorded.
Wherein:
x is the x-axis coordinate of the center point position of the camera in the mechanical arm coordinate system, and is mm;
y is the y-axis coordinate, mm, of the camera center point position in the mechanical arm coordinate system;
z is the z-axis coordinate of the central point of the camera in the mechanical arm coordinate system, and is mm;
h is the vertical distance, mm, between the camera center point position and the cutting line.
Calculating the plane track coordinate g of the cutting line after processing the image1(m, n). Calculating a plane track coordinate g of the AGV when the current station and the blade keep constant horizontal distance movement by combining the distance L between the AGV and the blade flash2＝(m+L,n)。
Wherein: g1Is the plane track coordinate of the cutting line, mm;
g2the plane track coordinate of the AGV is mm;
m is the coordinate of the plane track of the cutting line on the x axis of the mechanical arm coordinate system, and is mm;
n is the coordinate of the plane track of the cutting line on the y axis of the mechanical arm coordinate system, and is mm;
and L is the distance between the center point of the AGV trolley and the center of the blade flash cutting line on the x axis in the mechanical arm detection state, and is mm.
The cutting state: a cutting tool at the tail end of the mechanical arm 9 arrives at a position right above a cutting starting point according to the calculated cutting track coordinate, a cutter is started, and the cutter is lowered to cut along the cutting track coordinate; and after the cutting end point is reached, the mechanical arm drives the cutting tool at the tail end to retract, and the flange is transversely cut off by taking the cutting end point as a reference, so that the flange falls into the waste basket.
Fourth, returning to the state: after cutting is completed, the mechanical arm returns to the initial state, the AGV moves forwards for a distance according to the advancing track coordinate, and the detection and cutting processes are carried out again. When the distance measuring sensor detects the blade tip or/and the support in the running process of the AGV trolley, the support is bypassed according to the detection distance. When the mechanical arm is in a detection state, if the visual recognition camera recognizes the tail end of the blade tip, the current flash cutting is completed, the AGV sends out an alarm, the AGV is manually remotely controlled to move to the initial position of the blade tip of the front edge, and the trimming operation is restarted.
As shown in fig. 3, the recognition process of the visual recognition camera 10 is:
in the process of stopping the AGV trolley 8, a visual recognition camera 10 at the tail end of a mechanical arm comes above a flange, the position of the mechanical arm is finely adjusted to enable a cutting line to be located in the visual field of the visual recognition camera, the visual recognition camera keeps the optimal shooting height H in the direction perpendicular to the flange, and the position of the cutting line is primarily recognized.
And continuously moving the vision recognition camera 10 along the fins, shooting images at fixed horizontal intervals, integrating coordinate values, and removing the overlapped part coordinates of the starting point of each image cutting line and the terminal point of the previous image cutting line to form a complete cutting line track.
Thirdly, filtering and preprocessing the shot image, converting the image into a gray image, and extracting the position of the cutting line by using a threshold segmentation method.
Fourthly, calculating the plane coordinates and the three-dimensional coordinate tracks of the cutting lines according to the positions of the cutting lines in the visual field area of the visual recognition camera 10 and the positions of the visual recognition camera in the coordinate system of the mechanical arm.
Claims (9)
1. An automatic overlap cutting machine, characterized by: the cutting machine mainly comprises an AGV trolley (8), a visual recognition camera (10), a cutting tool, a dust removal system and a control system, wherein the AGV trolley is provided with an air compressor (1), a cable winder (2), a dust remover (5), a robot control cabinet (4), an AGV control cabinet (6), an electric control cabinet (7) and a mechanical arm (9); the dust removal system comprises a waste basket (3), a dust remover (5) and a dust collection port, wherein the waste basket is arranged on the side surface of the AGV and close to the position of the blade, and is moved along with the AGV to collect the flash falling after cutting off; the cutting tool comprises a cutter and a cutting head (11), the cutter is arranged on the cutting head; the visual recognition camera, the dust suction port and the cutting head are positioned at the tail end of the mechanical arm, and the dust suction port is connected to the waste basket (3) through a dust remover (5); the AGV is a platform for bearing the mechanical arm, the cutting tool, the dust removing equipment and switching the working position.
2. The automatic flash cutter according to claim 1, wherein: the vision recognition camera (10) shoots a cutting line image, calculates the plane position of the center of the cutting line, converts the three-dimensional coordinate of the cutting line by combining the vertical distance between the vision recognition camera and the flash during shooting, superposes the three-dimensional coordinate of the cutting line on a mechanical arm coordinate system, and calculates the walking track of the cutter during cutting; and calculating the movement track of the AGV trolley and the blade keeping constant horizontal distance by combining the distance between the initial position of the AGV trolley (8) and the blade.
3. The automatic flash cutter according to claim 1, wherein: and distance measuring sensors are arranged at the front, the back and the side faces of the AGV trolley (8) and are used for detecting the distance from the AGV trolley to the blade tip or/and the support in the running process.
4. The automatic flash cutter according to claim 1, wherein: the control system comprises an initial module, a detection module (12), a cutting module (13) and a return module (14); when the edge cutting operation of the initial module is started, the blade is horizontally placed, and the initial position of the AGV is set near the blade root front edge support; the detection module (12) comprises a scanning cutting line, image preprocessing, an image extraction and a coordinate calculation program; the cutting module comprises a prop positioning program, a cutter lowering program, a cutting program along a track, a cutter withdrawing program and a waste edge cutting program; the return module (14) comprises a position judgment function program, and if a bracket or/and a blade tip are met, the mechanical arm returns in a bypassing way; if no bracket or/and blade tip is encountered, the trimming operation is finished.
5. A control method of the automatic flash cutting machine according to claim 1, characterized in that: the control system automatically adjusts the position of the cutting tool to cut along the cutting line by controlling the working state of the mechanical arm (9), the working state of the mechanical arm (9) comprises an initial state, a detection state, a cutting state and a return state, and the control process is as follows:
firstly, an initial state: the blade is horizontally placed, and the position near the blade root front edge support is set as the initial position of an AGV (8); the AGV enters an initial position through manual remote control, the direction of the axis of a blade root pitch circle is parallel to the direction of the blade root pitch circle, and the distance between the AGV and a blade flash is L;
the detection state is as follows: starting the automatic burr cutting machine, extending a mechanical arm (9) out of the position above burrs to find a manually-cut cutting line, automatically adjusting the position of a visual identification camera (10) at the tail end of the mechanical arm to enable the center of a view field of the mechanical arm to be positioned above the cutting line, scanning along the marking position, converting three-dimensional coordinates of the cutting line through image processing, image extraction and coordinate calculation, and completing the detection of the cutting line of the current station;
the cutting state: a cutting tool at the tail end of the mechanical arm (9) arrives at a position with a distance right above a cutting starting point according to the calculated cutting track coordinate, a cutter is started, a cutter is lowered, and cutting is carried out along the cutting track coordinate; after the cutting end point is reached, the mechanical arm drives the cutting tool at the tail end to retract, and the fins are transversely cut off by taking the cutting end point as a reference, so that the fins fall into the waste basket;
fourth, returning to the state: after cutting is completed, the mechanical arm returns to the initial state, the AGV moves forwards for a distance according to the advancing track coordinate, and the detection and cutting processes are carried out again.
6. The control method of the automatic flash cutting machine according to claim 5, wherein: distance measuring sensors are arranged at the front, the rear and the side surfaces of the AGV trolley (8), and when the tip of a blade or/and the support is detected in the running process of the AGV trolley, the support is detoured according to the detection distance; when the mechanical arm is in a detection state, if the visual recognition camera (10) recognizes the tail end of the blade tip, the current overlap cutting is completed, the AGV sends out an alarm, the AGV moves to the initial position of the blade tip at the front edge through manual remote control, and the edge cutting operation is restarted.
7. The control method of the automatic flash cutting machine according to claim 5, wherein: the method comprises the following steps of recording the coordinate f of the visual recognition camera (10)1(x, y, z), and the perpendicular distance H from the cut line during camera movement; according to the fixed coordinate deviation value of the cutting tool and the visual recognition camera at the tail end mounting position of the mechanical arm, calculating the cutting track coordinate f of the cutting tool at the current station2(x + Δ x, y + Δ y, z + H), and recording the coordinates of the starting point and the ending point;
wherein:
x is the x-axis coordinate of the center point position of the camera in the mechanical arm coordinate system, and is mm;
y is the y-axis coordinate, mm, of the camera center point position in the mechanical arm coordinate system;
z is the z-axis coordinate of the central point of the camera in the mechanical arm coordinate system, and is mm;
h is the vertical distance, mm, between the camera center point position and the cutting line.
8. The automaton of claim 4The control method of the flash cutting machine is characterized by comprising the following steps: calculating the plane track coordinate g of the cutting line after processing the image1(m, n); calculating a plane track coordinate g of the AGV when the current station and the blade keep constant horizontal distance movement by combining the distance L between the AGV and the blade flash2＝(m+L,n)；
Wherein:
g1 is the plane trajectory coordinate of the cutting line, mm;
g2 is the plane track coordinate of AGV, mm;
m is the coordinate of the plane track of the cutting line on the x axis of the mechanical arm coordinate system, and is mm;
n is the coordinate of the plane track of the cutting line on the y axis of the mechanical arm coordinate system, and is mm;
and L is the distance between the center point of the AGV trolley and the center of the blade flash cutting line on the x axis in the mechanical arm detection state, and is mm.
9. The control method of the automatic flash cutting machine according to claim 5, wherein: the identification process of the visual identification camera (10) is as follows:
firstly, when an AGV trolley (8) is in a stopped state, a visual identification camera (10) at the tail end of a mechanical arm comes above a burr, the position of the mechanical arm is finely adjusted to enable a cutting line to be located in the visual field of the visual identification camera, the visual identification camera keeps the optimal shooting height H in the direction perpendicular to the burr, and the position of the cutting line is primarily identified;
continuously moving a vision recognition camera (10) along the fins, shooting images at fixed horizontal intervals, integrating coordinate values, and removing overlapped part coordinates of the starting point of each image cutting line and the end point of the cutting line of the previous image to form a complete cutting line track;
thirdly, performing filtering pretreatment on the shot image, converting the shot image into a gray image, and extracting the position of the cutting line by using a threshold segmentation method;
and fourthly, calculating the plane coordinate and the three-dimensional coordinate track of the cutting line according to the position of the inner cutting line in the visual field area of the visual recognition camera (10) and the position of the visual recognition camera in the mechanical arm coordinate system.
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