CN114271734B - Numerical control machine tool scrap iron cleaning device based on flow detection - Google Patents
Numerical control machine tool scrap iron cleaning device based on flow detection Download PDFInfo
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- CN114271734B CN114271734B CN202210001787.8A CN202210001787A CN114271734B CN 114271734 B CN114271734 B CN 114271734B CN 202210001787 A CN202210001787 A CN 202210001787A CN 114271734 B CN114271734 B CN 114271734B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
- B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/006—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/10—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided
- B24B55/102—Dust extraction equipment on grinding or polishing machines specially designed for portable grinding machines, e.g. hand-guided with rotating tools
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Cleaning In General (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a numerical control machine tool scrap iron cleaning device based on flow detection, which comprises a shell and a numerical control system, wherein a strip-shaped groove is formed in the bottom of the shell, a plurality of probing wheels are arranged inside the strip-shaped groove in an opening and closing mode, a garbage extraction box is arranged on the side surface of the shell, cameras are fixedly arranged on two ends of the shell, irradiation lamps are arranged on the side surface of each camera, the bottom of the shell is rotatably connected with a cleaning disc, a hairbrush is fixedly arranged on the bottom of the cleaning disc, a first suction inlet is formed in the bottom of the shell, rollers are arranged in corner areas of the bottom of the shell in a bearing mode, a motor is arranged inside the shell, a charging port is formed in the top of the shell, annular grooves are formed in the side surfaces of the probing wheels, a second suction inlet is formed in the middle area of the inner side of each annular groove, and the second suction inlet is connected with a garbage extraction box pipeline.
Description
Technical Field
The invention relates to the technical field of gap cleaning, in particular to a numerical control machine tool scrap iron cleaning device based on flow detection.
Background
The numerical control machining center is located ground dust is many, and long-term accumulation results in the apparatus surface to pile up the dust fast, and difficult clean position dust is more, and the machined part iron fillings can progressively deposit in the ceramic tile gap through the rust ization, causes the workman to manage the difficulty, and consequently, it is very necessary to design the digit control machine tool iron fillings cleaning device based on flow detection that the practicality is strong and automatic selection route.
Disclosure of Invention
The invention aims to provide a numerical control machine tool scrap iron cleaning device based on flow detection, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: numerical control machine tool iron fillings cleaning device based on flow detection, including shell and numerical control system, its characterized in that: the bottom of the shell is provided with a strip-shaped groove, the inside of the strip-shaped groove is provided with a plurality of probing wheels in an opening and closing way, the side surface of the shell is provided with a garbage extracting box, two ends of the shell are both fixedly provided with cameras, a lamp is arranged on the side surface of the camera, a cleaning disc is rotatably connected to the bottom of the shell, a brush is fixedly arranged on the bottom of the cleaning disc, a suction inlet I is arranged at the bottom of the shell, the gyro wheel is installed to the regional inner bearing in bottom corner of shell, the internally mounted of shell has the motor, the mouth that charges has been seted up at the top of shell, the annular groove has all been seted up to the side of exploring the wheel, sunction inlet two has been seted up to the inboard middle zone of annular groove, sunction inlet two is connected with rubbish extraction box pipe, sunction inlet one is connected with rubbish extraction box pipe, slidable mounting has the pivot in the annular groove, fixed mounting has the mill dish on another terminal surface of pivot.
According to the technical scheme, the numerical control system comprises a probing wheel adjusting module, a garbage cleaning module and a route positioning module, the probing wheel adjusting module comprises a rotating shaft telescopic unit, a polishing disc adjusting unit and a probing wheel adjusting and controlling unit, the garbage cleaning module comprises a suction adjusting unit and a cleaning disc adjusting unit, the suction adjusting unit comprises a suction inlet first adjusting and controlling unit and a suction inlet second adjusting and controlling unit, and the route positioning module comprises a route modeling unit, a starting and ending point judging unit and a real-time route correcting unit.
According to the technical scheme, the path positioning process comprises the following steps:
s1, cameras have a unique visual influence function, a plurality of cameras are used for synthesizing surrounding environments to identify roadblocks, and the cameras process captured images into digital signals so as to sense the positions of paths and obstacles;
s2, the whole equipment is placed in a space in a limited range, the equipment moves according to a preset test path, the whole space is cleaned for the first time, surface dust is cleaned once, and path judgment is facilitated;
s3, resetting the equipment, operating again, starting the operating camera to perform undifferentiated detection on the ground, judging whether the ground type is matte or polished by using an illuminating lamp, setting an illumination reflection rated value as G, judging that the ground is a matte material if the illumination reflection value is smaller than G, and judging that the ground is a polished material if the illumination reflection value is larger than or equal to G;
s4, paving a rock plate and a ceramic tile on the conventional ground, wherein the ceramic tile is made of polished materials, the rock plate belongs to matte materials, and the specific paving materials are determined by judging whether the matte materials or the polished materials are used;
s5, path modeling detects a gap, the next gap path is continuously judged after the determination of one gap path is finished, the path is determined by light reflection if the material is ceramic tiles, the surfaces of the ceramic tiles are all light reflection areas, the non-light reflection areas are gaps, the path modeling unit finds that the path is continuous when detecting the path, the path determination is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, the gap is detected by a camera if the material is a rock plate, the gap is a concave area compared with the rock plate and is different from the height of the surface of the rock plate, therefore, the gap between the rock plates is detected, and if the camera 3 detects the ceramic tiles, the reflection of the ceramic tiles reflects the camera, and the detection result of the camera generates errors.
According to the technical scheme, the real-time route correction unit flow comprises the following steps:
s21, the equipment runs according to a modeling route, the camera continuously runs at the moment, the path of the gap is only in a straight line shape, and if the equipment generates position deviation in the running process, the real-time route correction unit emergently brakes and stops the equipment;
s22, the equipment carries out path modeling again according to materials, modeling is carried out again on the path by taking the equipment as a starting point, modeling is completed again, if the path is error-free, the equipment detects the ground, whether an obstacle exists or not is detected, if the obstacle exists, the cleaning disc is driven to clean the ground until the obstacle is thoroughly cleaned, if the three-time cleaning is not completed completely, workers are called, if the obstacle does not exist, the primary modeling and the second modeling of the path are compared, if the two modeling is consistent, the workers are called, the operation is continued if the two modeling is determined, and if the two modeling is inconsistent, the equipment operates again, so that the ground laying materials are not damaged.
According to the technical scheme, the gap cleaning process comprises the following steps:
s31, determining the descending distance of the probing wheel according to the gap impurity stacking height, setting the gap impurity stacking height to be H1-H6, wherein the H1 represents that the impurity stacking height is the lowest, the H6 represents that the impurity stacking height is the highest, setting the descending distance of the probing wheel to be A, dividing the descending distance into A1-A6, wherein the A1 represents that the descending distance of the probing wheel is the longest, the A6 represents that the descending distance of the probing wheel is the shortest, and the H1-H6 correspond to the A1-A6 one by one;
s32, enabling the probe wheel to enter the gap, driving the rotating shaft to extend by the rotating shaft telescopic unit to drive the polishing disc to move outwards until the polishing disc contacts the inner wall of the gap, stopping the operation of the rotating shaft when the two polishing discs contact the inner wall of the gap, starting the operation and movement of the equipment, and simultaneously rotating and cleaning the polishing discs;
s33, the number of the probe-in wheels capable of running is set to be two, one probe-in wheel is set to run in H1-H3 levels, two probe-in wheels are set to run in H4-H6 levels, the running number of the probe-in wheels is judged according to the stacking height of the gap impurities, the running number is reduced, and energy consumption is reduced.
According to the above technical solution, the operation flow of the polishing disc 11 is as follows:
s41, the operation of the polishing disc is divided into two areas, wherein one area is that the polishing disc rotates automatically, and the other area is that the rotating shaft rotates around the annular groove to drive the polishing disc to rotate;
s42, setting the overall running speed of the equipment to be V, dividing the overall running speed into ten levels from V1 to V10, wherein V1 represents that the running speed of the equipment is slowest, V10 represents that the running speed of the equipment is fastest, setting the rotating speed of a rotating shaft to be B, dividing the overall running speed of the rotating shaft into ten levels from B1 to B10, B1 represents that the rotating speed of the rotating shaft is slowest, B10 represents that the running speed of the equipment is fastest, and V1-V10 correspond to B1-B10 one by one;
s43, the rotating shaft rotates to drive the polishing disc to rotate, the cleaning range of the inner wall of the gap can be enlarged in the process, meanwhile, when the polishing disc 11 rotates downwards to contact the bottom wall of the gap, a plurality of pressure sensors are uniformly distributed on the surface of the polishing disc, if the detection value of the pressure sensors is instantly increased, the rotating shaft does not continue to rotate along the same direction, but rotates around the annular groove in the opposite direction, and if the rotating shaft continues to rotate in the same direction, the polishing disc and the bottom wall of the gap generate impact, so that the rotating shaft is broken;
s44, the autorotation of the polishing disc 11 is set to be in two modes, namely C1 and C2, C1 represents that the polishing disc rotates clockwise, C2 represents that the polishing disc rotates anticlockwise, the initial rotation direction of the rotating shaft is set to rotate clockwise, the polishing disc at the moment is in a C1 mode, the polishing disc is switched to a C2 mode when the polishing disc runs reversely when touching the bottom, the follow-up flow is switched in a circulating mode, if the rotating shaft rotates clockwise, the polishing disc rotates clockwise simultaneously, the fine hair on the surface of the polishing disc is smaller in resistance, the service life of the polishing disc is prolonged, if the rotating shaft rotates anticlockwise, the polishing disc rotates anticlockwise simultaneously, the fine hair on the surface of the polishing disc is larger in resistance, the replacement frequency of the polishing disc is higher, and the cleaning efficiency is reduced.
According to the technical scheme, the cleaning process of the cleaning disc comprises the following steps:
s51, when initial cleaning is carried out before modeling of the equipment path, the cleaning disc rotates, only the suction inlet is started, the cleaning disc disperses dust on the ground, and the suction inlet collects the dispersed dust;
s52, the probing wheel enters the gap to perform secondary cleaning, the first suction port and the second suction port are started simultaneously, when the polishing disc cleans the gap, dust in the gap is directly sucked by the second suction port, a small part of dust is driven to the ground by the rotation of the polishing disc and then is sucked by the first suction port, and the dust enters the garbage extraction box through the pipeline.
According to the technical scheme, the suction force is adjusted:
setting the suction force of the suction port I and the suction port II as J, wherein the suction force is divided into six levels of J1-J6, J1 represents the minimum suction force, J6 represents the maximum suction force, H1-H6 and J1-J6 correspond to each other one by one, if the impurity accumulation in the gap is higher, the suction force is larger, if the impurity accumulation in the gap is lower, the suction force is smaller, and the effect of judging the suction force according to the amount of the impurities in the gap is achieved;
when cleaning before modeling, the suction force of the suction inlet I is directly adjusted to the highest value, and the suction force is adjusted according to the accumulation height of impurities in the gap when cleaning the gap for the second time.
According to the technical scheme, the rotating shaft telescopic unit is used for adjusting the length of the rotating shaft to be convenient to adapt to the size of a gap, the polishing disc adjusting unit is used for controlling and adjusting the rotating speed of the polishing disc to adapt to the hardness of impurities in the gap, the probing wheel adjusting unit is used for adjusting the running number of probing wheels, the suction adjusting unit is used for adjusting the size of suction during cleaning, the suction inlet I adjusting unit is used for adjusting and controlling the suction at the suction inlet I, the suction inlet II adjusting unit is used for adjusting and controlling the suction at the suction inlet II, the cleaning disc adjusting unit is used for adjusting the rotating speed of the cleaning disc, the route modeling unit is used for performing route pre-judgment and space modeling on equipment in a set range to mark out obstacle, the starting point judging unit is used for setting a reasonable starting point and a reasonable ending point to reduce the length of a route during secondary running, the real-time route correcting unit is used for monitoring the route in real time when the equipment runs according to a pre-judged route, and emergently stopping and re-judging the route section when the pre-judged route is wrong.
According to the technical scheme, the handle is installed at the top of the shell, the roller is installed in the middle of the top of the shell, a worker can lift the whole equipment, and the storage space required by the equipment is reduced by folding through the roller.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the polishing disc is arranged, the rotating shaft rotates to drive the polishing disc to rotate, the cleaning range of the inner wall of the gap can be increased in the process, meanwhile, when the polishing disc 11 rotates downwards to contact the bottom wall of the gap, a plurality of pressure sensors are uniformly distributed on the surface of the polishing disc, if the detection value of the pressure sensors is instantly increased, the rotating shaft does not rotate continuously along the same direction but rotates around the annular groove in the opposite direction, and if the rotating shaft rotates continuously in the same direction, the polishing disc and the bottom wall of the gap generate impact, so that the rotating shaft is broken.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic overall elevational view of the present invention;
FIG. 2 is a schematic view of the overall negative structure of the present invention;
FIG. 3 is a schematic view of the sanding disc of the present invention;
FIG. 4 is a schematic of the system of the present invention;
in the figure: 1. a housing; 2. a handle; 3. a camera; 4. a roller; 5. a probing wheel; 6. cleaning the disc; 7. a suction inlet I; 8. a brush; 9. a roller; 10. a garbage extraction box; 11. grinding disc; 12. a suction inlet II; 13. an annular groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-4, the present invention provides the following technical solutions: numerical control machine tool iron fillings cleaning device based on flow detection, including shell 1 and numerical control system, its characterized in that: rectangular shape recess has been seted up to shell 1's bottom, rectangular shape recess's inside is opened and shut and is installed a plurality of wheels 5 that visit, rubbish extraction box 10 has been seted up to shell 1's side, equal fixed mounting has camera 3 on two tip of shell 1, camera 3's side-mounting has the lamp, shell 1's bottom swivelling joint has cleaning disc 6, fixed mounting has brush 8 on cleaning disc 6's the bottom, sunction inlet one 7 has been seted up to shell 1's bottom, gyro wheel 4 has been installed to shell 1's bottom corner region inner bearing, shell 1's internally mounted has the motor, the mouth that charges has been seted up at shell 1's top, annular groove 13 has all been seted up to the side of visiting wheel 5, sunction inlet two 12 has been seted up to annular groove 13's inboard middle zone, sunction inlet two 12 and rubbish extraction box 10 pipe connection, sunction inlet one 7 and rubbish extraction box 10 pipe connection, slidable mounting has the pivot in annular groove 13, fixed mounting has the dish 11 of beating on another terminal surface of pivot.
The numerical control system comprises a probing wheel adjusting module, a garbage cleaning module and a route positioning module, wherein the probing wheel adjusting module comprises a rotating shaft telescopic unit, a polishing disc adjusting unit and a probing wheel adjusting unit, the garbage cleaning module comprises a suction adjusting unit and a cleaning disc adjusting unit, the suction adjusting unit comprises a suction inlet one adjusting unit and a suction inlet two adjusting unit, and the route positioning module comprises a route modeling unit, a starting point and ending point judging unit and a real-time route correcting unit.
Path positioning process:
s1, cameras have a unique visual influence function, a plurality of cameras are used for synthesizing surrounding environments to identify roadblocks, and the cameras process captured images into digital signals so as to sense the positions of paths and obstacles;
s2, the whole equipment is placed in a space in a limited range, the equipment moves according to a preset test path, the whole space is cleaned for the first time, surface dust is cleaned once, and path judgment is facilitated;
s3, resetting the equipment, operating again, starting the operating camera to perform undifferentiated detection on the ground, judging whether the ground type is matte or polished by using an illuminating lamp, setting an illumination reflection rated value as G, judging that the ground is a matte material if the illumination reflection value is smaller than G, and judging that the ground is a polished material if the illumination reflection value is larger than or equal to G;
s4, paving a rock plate and a ceramic tile on the conventional ground, wherein the ceramic tile is made of polished materials, the rock plate belongs to matte materials, and the specific paving materials are determined by judging whether the matte materials or the polished materials are used;
s5, path modeling detects a gap, the next gap path is continuously judged after the determination of one gap path is finished, the path is determined by light reflection if the material is ceramic tiles, the surfaces of the ceramic tiles are all light reflection areas, the non-light reflection areas are gaps, the path modeling unit finds that the path is continuous when detecting the path, the path determination is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, the gap is detected by a camera if the material is a rock plate, the gap is a concave area compared with the rock plate and is different from the height of the surface of the rock plate, therefore, the gap between the rock plates is detected, and if the camera 3 detects the ceramic tiles and the reflection of the ceramic tiles reflects the camera, the detection result of the camera 3 generates errors.
Real-time route correction unit flow:
s21, the equipment operates according to a modeling route, the camera 3 continuously operates at the moment, the path of a gap is only in a straight line shape, and if the equipment generates position deviation in the operation process, the real-time route correction unit emergently brakes and stops the equipment;
s22, the equipment carries out path modeling again according to materials, modeling is carried out on the path again by taking the equipment as a starting point, modeling is carried out again, if the path is error-free, the equipment detects the ground, whether an obstacle exists or not is detected, if the obstacle exists, the cleaning disc 6 is driven to clean the ground until the obstacle is thoroughly cleaned, if the three-time cleaning is not completed, workers are called, if the obstacle does not exist, the primary modeling and the secondary modeling of the path are compared, if the two-time modeling is consistent, the workers are called, the artificial determination is made to continue to operate, if the two-time modeling is inconsistent, the equipment operates again, and the ground pavement materials are guaranteed not to be damaged.
Gap cleaning process:
s31, judging the descending distance of the probing wheel 5 according to the gap impurity stacking height, setting the gap impurity stacking height to be H1-H6, wherein the H1 represents that the impurity stacking height is the lowest, the H6 represents that the impurity stacking height is the highest, setting the descending distance of the probing wheel 5 to be A, dividing the descending distance into A1-A6, namely six levels, A1 represents that the descending distance of the probing wheel 5 is the longest, A6 represents that the descending distance of the probing wheel 5 is the shortest, and H1-H6 correspond to A1-A6 one by one;
s32, the probing wheel 5 enters a gap, the rotating shaft telescopic unit drives the rotating shaft to extend and drive the polishing disc 11 to move outwards until the polishing disc 11 contacts the inner wall of the gap, when the two polishing discs 11 contact the inner wall of the gap, the rotating shaft stops running, the equipment starts running and moving, and the polishing disc 11 simultaneously rotates and cleans;
s33, the number of the probe wheels 5 capable of running is set to be two, one probe wheel 5 runs in the H1-H3 level, two probe wheels 5 run in the H4-H6 level, the number of the probe wheels 5 running is judged according to the gap impurity accumulation height, the running number is reduced, and the energy consumption is reduced.
The operation flow of the polishing disc 11:
s41, the operation of the polishing disc 11 is divided into two areas, wherein one area is that the polishing disc 11 rotates automatically, and the other area is that the rotating shaft rotates around the annular groove 13 to drive the polishing disc 11 to rotate;
s42, setting the overall running speed of the equipment to be V, dividing the overall running speed into ten levels from V1 to V10, wherein V1 represents that the running speed of the equipment is slowest, V10 represents that the running speed of the equipment is fastest, setting the rotating speed of a rotating shaft to be B, dividing the overall running speed of the rotating shaft into ten levels from B1 to B10, B1 represents that the rotating speed of the rotating shaft is slowest, B10 represents that the running speed of the equipment is fastest, and V1-V10 correspond to B1-B10 one by one;
s43, the rotating shaft rotates to drive the polishing disc 11 to rotate, the cleaning range of the inner wall of the gap can be enlarged in the process, meanwhile, when the polishing disc 11 rotates downwards to contact the bottom wall of the gap, a plurality of pressure sensors are uniformly distributed on the surface of the polishing disc 11, if the detection value of the pressure sensors is instantly increased, the rotating shaft does not rotate continuously along the same direction but rotates around the annular groove 13 in the opposite direction, and if the rotating shaft rotates continuously in the same direction, the polishing disc 11 collides with the bottom wall of the gap, and the rotating shaft is broken;
s44, the autorotation of the polishing disc 11 is set to be in two modes, namely C1 and C2, C1 represents that the polishing disc 11 rotates clockwise, C2 represents that the polishing disc 11 rotates anticlockwise, the initial rotation direction of the rotating shaft is set to rotate clockwise, the polishing disc 11 at the moment is in the C1 mode, when the polishing disc 11 touches the bottom and runs reversely, the polishing disc 11 is switched to the C2 mode, the subsequent flow is switched circularly, if the rotating shaft rotates clockwise, the polishing disc 11 rotates clockwise simultaneously, the resistance to fine hair on the surface of the polishing disc 11 is small, the service life of the polishing disc 11 is prolonged, if the rotating shaft rotates anticlockwise, the polishing disc 11 rotates anticlockwise simultaneously, the resistance to fine hair on the surface of the polishing disc 11 is large, the replacement frequency of the polishing disc 11 is high, and the cleaning efficiency is reduced;
s51, when primary cleaning is carried out before equipment path modeling, the cleaning disc 6 rotates and only the suction inlet I7 is started, the cleaning disc 6 disperses dust on the ground, and the suction inlet I7 collects the dispersed dust;
s52, the probing wheel 5 enters the gap to perform secondary cleaning, the first suction port 7 and the second suction port 12 are started simultaneously, when the polishing disc 11 cleans the gap, dust in the gap is directly sucked by the second suction port 12, a small part of dust is driven to the ground by the rotation of the polishing disc 11 and then is sucked by the first suction port 7, and the dust enters the garbage extraction box 10 through a pipeline.
Adjusting the suction force:
setting the suction force of the suction port I7 and the suction port II 12 as J, wherein the suction force is divided into six levels of J1-J6, J1 represents the minimum suction force, J6 represents the maximum suction force, H1-H6 correspond to J1-J6 one by one, if the impurity accumulation in the gap is higher, the suction force is larger, if the impurity accumulation in the gap is lower, the suction force is smaller, and the effect of judging the suction force according to the amount of the impurities in the gap is achieved;
when cleaning before modeling, the suction force of the suction inlet I7 is directly adjusted to the highest value, and the suction force is adjusted according to the accumulation height of impurities in the gap when cleaning the gap for the second time.
The rotating shaft telescopic unit is used for adjusting the length of a rotating shaft and is convenient to adapt to the size of a gap, the grinding disc adjusting unit is used for controlling and adjusting the rotating speed of the grinding disc 11 to adapt to the hardness of impurities in the gap, the probing wheel adjusting and controlling unit is used for adjusting the running number of the probing wheels 5, the suction adjusting unit is used for adjusting the suction during cleaning, the suction inlet I adjusting and controlling unit is used for adjusting the suction at the inlet I7, the suction inlet II adjusting and controlling unit is used for adjusting the suction at the inlet II 12, the cleaning disc adjusting unit is used for adjusting the rotating speed of the cleaning disc 6, the route modeling unit is used for performing route pre-judgment and space modeling in a set range of equipment, marking the position of an obstacle, the starting point judging unit and the ending point judging unit are used for setting a reasonable starting point and an ending point, reducing the length of a route of secondary running, the real-time route correcting unit is used for monitoring the route in real time when the equipment runs according to the pre-judged route, and performing emergency stop when the pre-judged route is wrong, and pre-judging the route again.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. Numerical control machine tool iron fillings cleaning device based on flow detection, including shell (1) and numerical control system, its characterized in that: the garbage cleaning machine is characterized in that a long-strip-shaped groove is formed in the bottom of the shell (1), a plurality of probing wheels (5) are installed inside the long-strip-shaped groove in an opening and closing mode, a garbage extracting box (10) is formed in the side face of the shell (1), cameras (3) are fixedly installed on two end heads of the shell (1), irradiation lamps are installed on the side face of each camera (3), the bottom of the shell (1) is rotatably connected with a cleaning disc (6), brushes (8) are fixedly installed on the bottom of the cleaning disc (6), a suction inlet I (7) is formed in the bottom of the shell (1), rollers (4) are installed on bearings in corner areas of the bottom of the shell (1), a motor is installed inside the shell (1), a charging port is formed in the top of the shell (1), an annular groove (13) is formed in each side face of each probing wheel (5), a suction inlet II (12) is formed in an inner side middle area of the annular groove (13), the garbage extracting box (10) is connected with a pipeline, a charging port I (7) is connected with the extracting box (10) through a pipeline, a rotating shaft is installed on the annular groove (13), and another grinding disc (11) is installed on the other end face of the grinding disc; the numerical control system comprises a probing wheel adjusting module, a garbage cleaning module and a route positioning module, wherein the probing wheel adjusting module comprises a rotating shaft telescopic unit, a polishing disc adjusting unit and a probing wheel adjusting and controlling unit;
path positioning process:
s1, cameras have a unique visual influence function, a plurality of cameras are used for synthesizing surrounding environments to identify roadblocks, and the cameras process captured images into digital signals so as to sense the positions of paths and obstacles;
s2, the whole equipment is placed in a space within a limited range, the equipment moves according to a preset test path, the whole space is cleaned for the first time, surface dust is cleaned once, and path judgment is facilitated;
s3, resetting the equipment and running again, starting a camera to run the equipment to perform undifferentiated detection on the ground, judging whether the ground type is matte or polished by using an irradiation lamp, setting an illumination reflection rated value as G, judging that the ground is a matte material if the illumination reflection value is smaller than G, and judging that the ground is a polished material if the illumination reflection value is larger than or equal to G;
s4, paving a rock plate and a ceramic tile on the conventional ground, wherein the ceramic tile is made of polished materials, the rock plate belongs to matte materials, and the specific paving materials are determined by judging whether the matte materials or the polished materials are used;
s5, path modeling detects a gap, the next gap path is continuously judged after the determination of one gap path is finished, the path is determined by light reflection if the material is ceramic tiles, the surfaces of the ceramic tiles are all light reflection areas, the non-light reflection areas are gaps, the path modeling unit finds that the path is continuous when detecting the path, the path determination is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, the gap is detected by a camera if the material is rock plates, the gap is a concave area compared with the rock plates and is different from the height of the surfaces of the rock plates, the gap between the rock plates is detected, and if the camera (3) detects the ceramic tiles, the reflection of the ceramic tiles reflects the camera, and the detection result of the camera (3) generates errors.
2. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 1, characterized in that: the real-time route correction unit flow comprises the following steps:
s21, the equipment runs according to the modeling route, the camera (3) runs continuously at the moment, the path of the gap is only in a straight line shape, and if the equipment generates position deviation in the running process, the real-time route correction unit emergently brakes and stops the equipment;
s22, the equipment carries out path modeling again according to materials, modeling is carried out again on the path by taking the equipment as a starting point, modeling is completed again, if the path is error-free, the equipment detects the ground, whether an obstacle exists or not is detected, if the obstacle exists, the cleaning disc (6) is driven to clean the ground until the obstacle is thoroughly cleaned, if the three-time cleaning is not completed completely, workers are called, if the obstacle does not exist, the primary modeling and the second modeling of the path are compared, if the two modeling are consistent, the workers are called, the operation is continued for people, and if the two modeling are inconsistent, the equipment is operated again, so that the ground laying materials are not damaged.
3. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 2, characterized in that: gap cleaning process:
s31, judging the descending distance of the probing wheel (5) according to the gap impurity stacking height, setting the gap impurity stacking height to be H1-H6 in six levels, wherein H1 represents that the impurity stacking height is lowest, H6 represents that the impurity stacking height is highest, setting the descending distance of the probing wheel (5) to be A, dividing the descending distance into A1-A6 in six levels, A1 represents that the descending distance of the probing wheel (5) is longest, A6 represents that the descending distance of the probing wheel (5) is shortest, and H1-H6 correspond to A1-A6 one by one;
s32, the probing wheel (5) enters the gap, the rotating shaft telescopic unit drives the rotating shaft to extend to drive the polishing disc (11) to move outwards until the polishing disc (11) contacts the inner wall of the gap, when the two polishing discs (11) contact the inner wall of the gap, the rotating shaft stops running, the equipment starts running and moving, and the polishing discs (11) rotate and clean simultaneously;
s33, the number of the probing wheels (5) capable of running is set to be two, one probing wheel (5) is set to run in H1-H3 levels, two probing wheels (5) are set to run in H4-H6 levels, the number of the probing wheels (5) to run is judged according to the gap impurity accumulation height, the number of the probes to run is reduced, and energy consumption is reduced.
4. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 3, characterized in that: the operation flow of the grinding disc (11) is as follows:
s41, the operation of the polishing disc (11) is divided into two areas, one area is that the polishing disc (11) rotates, and the other area is that the rotating shaft rotates around the annular groove (13) to drive the polishing disc (11) to rotate;
s42, setting the overall running speed of the equipment to be V, dividing the overall running speed into ten levels from V1 to V10, wherein V1 represents that the running speed of the equipment is slowest, V10 represents that the running speed of the equipment is fastest, setting the rotating speed of a rotating shaft to be B, dividing the overall running speed of the rotating shaft into ten levels from B1 to B10, B1 represents that the rotating speed of the rotating shaft is slowest, B10 represents that the running speed of the equipment is fastest, and V1-V10 correspond to B1-B10 one by one;
s43, the rotating shaft rotates to drive the polishing disc (11) to rotate, the cleaning range of the inner wall of the gap can be enlarged in the process, meanwhile, when the polishing disc (11) rotates downwards to contact the bottom wall of the gap, a plurality of pressure sensors are uniformly distributed on the surface of the polishing disc (11), if the detection value of the pressure sensors is instantly increased, the rotating shaft does not continuously rotate along the same direction, but rotates around the annular groove (13) in the opposite direction, and if the rotating shaft continues to rotate in the same direction, the polishing disc (11) collides with the bottom wall of the gap, and the rotating shaft is broken;
s44, the autorotation of the polishing disc (11) is set to be in two modes, namely C1 and C2, C1 represents that the polishing disc (11) rotates clockwise, C2 represents that the polishing disc (11) rotates anticlockwise, the initial rotation direction of the rotating shaft is set to rotate clockwise, the polishing disc (11) at the moment is in the C1 mode, when the polishing disc (11) runs in a bottom-touching reverse mode, the polishing disc (11) is switched to the C2 mode, the subsequent processes are switched in a circulating mode, if the rotating shaft rotates clockwise, the polishing disc (11) rotates clockwise at the same time, fine hair on the surface of the polishing disc (11) is small in resistance, the service life of the polishing disc (11) is prolonged, if the rotating shaft rotates anticlockwise, the polishing disc (11) rotates anticlockwise at the same time, the fine hair on the surface of the polishing disc (11) is large in resistance, the replacement frequency of the polishing disc (11) is high, and the cleaning efficiency is reduced.
5. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 4, wherein: the cleaning process of the cleaning disc (6) comprises the following steps:
s51, when primary cleaning is carried out before equipment path modeling, the cleaning disc (6) rotates and only the suction inlet I (7) is started, dust on the ground is scattered by the cleaning disc (6), and the scattered dust is collected by the suction inlet I (7);
s52, the probing wheel (5) enters the gap to perform secondary cleaning, the suction inlet I (7) and the suction inlet II (12) are started simultaneously, when the polishing disc (11) cleans the gap, dust in the gap is directly sucked by the suction inlet II (12), a small part of dust is driven to the ground by the rotation of the polishing disc (11) and then is sucked by the suction inlet I (7), and the dust enters the garbage extraction box (10) through a pipeline.
6. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 5, wherein: adjusting the suction force:
setting the suction force of the suction port I (7) and the suction port II (12) as J, wherein the suction force is divided into six levels of J1-J6, J1 represents the minimum suction force, J6 represents the maximum suction force, H1-H6 correspond to J1-J6 one by one, if the impurity accumulation in the gap is higher, the suction force is higher, if the impurity accumulation in the gap is lower, the suction force is lower, and the effect of judging the suction force according to the amount of the impurity in the gap is achieved;
when cleaning before modeling, the suction force of the suction inlet I (7) is directly adjusted to the highest value, and the suction force is adjusted according to the impurity accumulation height in the gap when cleaning the gap for the second time.
7. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 6, characterized in that: the rotating shaft telescopic unit is used for adjusting the length of a rotating shaft to adapt to the size of a gap conveniently, the grinding disc adjusting unit is used for controlling and adjusting the rotating speed of a grinding disc (11) to adapt to the hardness of impurities in the gap, the probing wheel adjusting and controlling unit is used for adjusting the running number of probing wheels (5), the suction adjusting unit is used for adjusting the suction during cleaning, the suction inlet I adjusting and controlling unit is used for adjusting the suction at a suction inlet I (7), the suction inlet II adjusting and controlling unit is used for adjusting the suction at a suction inlet II (12), the cleaning disc adjusting unit is used for adjusting the rotating speed of a cleaning disc (6), the route modeling unit is used for performing route prejudgment and space modeling on equipment within a set range to mark out obstacle positions, the starting point judging unit is used for setting a reasonable starting point and end point to reduce the length of a route during secondary running, the real-time route correcting unit is used for monitoring the route in real time when the equipment runs according to a prejudged route, and performing prejudgment on the route again when an error is made in the preway.
8. The numerical control machine tool scrap iron cleaning device based on flow detection as claimed in claim 7, wherein: handle (2) are installed at the top of shell (1), roller bearing (9) are installed in the middle of the top of shell (1), and the workman can lift whole equipment, and folding through the roller bearing reduces the required parking space of equipment.
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| CN202211118039.4A CN115533704A (en) | 2022-01-04 | 2022-01-04 | Digit control machine tool iron fillings cleaning device based on flow detection |
| CN202210001787.8A CN114271734B (en) | 2022-01-04 | 2022-01-04 | Numerical control machine tool scrap iron cleaning device based on flow detection |
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| CN202210001787.8A CN114271734B (en) | 2022-01-04 | 2022-01-04 | Numerical control machine tool scrap iron cleaning device based on flow detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106270687A (en) * | 2016-10-15 | 2017-01-04 | 广州明森科技股份有限公司 | A kind of smart card groove milling equipment |
| CN208067493U (en) * | 2018-02-11 | 2018-11-09 | 扬州航瑞电子科技有限公司 | The cleaning device for inner wall of long straight wave guide |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06327598A (en) * | 1993-05-21 | 1994-11-29 | Tokyo Electric Co Ltd | Intake port body for vacuum cleaner |
| KR100588061B1 (en) * | 2004-12-22 | 2006-06-09 | 주식회사유진로보틱스 | Cleaning robot having double suction device |
| CN110638382A (en) * | 2019-10-25 | 2020-01-03 | 郑州清辰雨清洁设备有限公司 | Floor mopping vehicle for wasteland exploitation |
| CN211200228U (en) * | 2019-11-18 | 2020-08-07 | 湖南工业大学 | Sweeper with sweeping device replaced according to types of garbage in sweeping field |
| CN111590414A (en) * | 2020-05-26 | 2020-08-28 | 李汉荣 | Building ground cleaning device that polishes |
| CN215078083U (en) * | 2020-10-25 | 2021-12-10 | 淮北联诚网络科技有限公司 | Robot with cleaning function |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270687A (en) * | 2016-10-15 | 2017-01-04 | 广州明森科技股份有限公司 | A kind of smart card groove milling equipment |
| CN208067493U (en) * | 2018-02-11 | 2018-11-09 | 扬州航瑞电子科技有限公司 | The cleaning device for inner wall of long straight wave guide |
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| CN115533704A (en) | 2022-12-30 |
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