CN115533704A - Digit control machine tool iron fillings cleaning device based on flow detection - Google Patents
Digit control machine tool iron fillings cleaning device based on flow detection Download PDFInfo
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- CN115533704A CN115533704A CN202211118039.4A CN202211118039A CN115533704A CN 115533704 A CN115533704 A CN 115533704A CN 202211118039 A CN202211118039 A CN 202211118039A CN 115533704 A CN115533704 A CN 115533704A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 60
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 title claims abstract description 18
- 229910052742 iron Inorganic materials 0.000 title claims abstract description 10
- 238000005498 polishing Methods 0.000 claims description 62
- 239000000463 material Substances 0.000 claims description 29
- 239000000919 ceramic Substances 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 18
- 239000011435 rock Substances 0.000 claims description 18
- 239000000428 dust Substances 0.000 claims description 16
- 238000005286 illumination Methods 0.000 claims description 9
- 230000001788 irregular Effects 0.000 claims description 3
- 230000002194 synthesizing effect Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000000605 extraction Methods 0.000 abstract description 10
- 239000012535 impurity Substances 0.000 description 20
- 239000000523 sample Substances 0.000 description 11
- 238000009825 accumulation Methods 0.000 description 8
- 238000012937 correction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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Classifications
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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
-
- 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
Landscapes
- 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 the ground dust is many, and long-term accumulation leads to the apparatus surface to pile up the dust fast, and difficult clean position dust is more, and machined part iron fillings can progressively deposit in the ceramic tile gap through the rust-resistant, cause the workman to manage the difficulty, consequently, it is necessary to design the digit control machine tool iron fillings cleaning device based on flow detection that the practicality is strong and the 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: the utility model provides a digit control machine tool iron fillings cleaning device based on flow detection, includes 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 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 one gap, when judging of one gap path is finished, the next gap path is continuously judged, the path is determined through 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, when the path is detected, a path modeling unit finds that the path is continuous, the path judgment is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, if the path is rock plates, the gaps are detected through a camera, the gaps are concave areas compared with the rock plates and are different from the height of the surfaces of the rock plates, therefore, the gaps between the rock plates are detected, if the camera 3 detects the ceramic tiles, the reflection of the ceramic tiles reflects the camera, and errors are generated in the detection result of the camera.
According to the technical scheme, the real-time route correction unit flow comprises the following steps:
s21, the equipment runs according to the 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, judging the descending distance of the probing wheel 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 to be A, dividing the descending distance into A1-A6 in six levels, A1 represents that the descending distance of the probing wheel is longest, A6 represents that the descending distance of the probing wheel is shortest, and H1-H6 correspond to A1-A6 one by one;
s32, enabling the probe wheel to enter a gap, driving the rotating shaft to extend by the rotating shaft telescopic unit to drive the polishing discs to move outwards until the polishing discs contact 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 equipment, and simultaneously performing rotary cleaning on the polishing discs;
s33, setting the number of the probe wheels to be two, setting one probe wheel to operate at H1-H3 levels, and two probe wheels to operate at H4-H6 levels, judging the number of the probe wheels to operate according to the gap impurity accumulation height, reducing the number of the probe wheels and reducing the energy consumption.
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 above technical scheme, the cleaning disc cleaning process:
s51, when the equipment path is cleaned for the first time before modeling, the cleaning disc rotates, only the suction inlet is started, the cleaning disc disperses the 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 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 one gap, when judging of one gap path is finished, the next gap path is continuously judged, the path is determined through 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, when the path is detected, a path modeling unit finds that the path is continuous, the path judgment is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, if the path is rock plates, the gaps are detected through a camera, the gaps are concave areas compared with the rock plates and are different from the height of the surfaces of the rock plates, therefore, the gaps between the rock plates are detected, if the camera 3 detects the ceramic tiles, the reflection of the ceramic tiles reflects the camera, and errors are generated in the detection result of the camera 3.
Real-time route correction unit flow:
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 is consistent, the workers are called, the artificial determination is that the operation is continued, and if the two modeling is inconsistent, the equipment operates again, so that the ground laying materials are not 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 lowest, the 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, wherein the A1 represents that the descending distance of the probing wheel 5 is longest, the A6 represents that the descending distance of the probing wheel 5 is shortest, and the H1-H6 correspond to the 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 which can be operated is set to be two, one probe wheel 5 is operated at H1-H3 levels, two probe wheels 5 are operated at H4-H6 levels, the number of the probe wheels 5 which can be operated is judged according to the stacking height of the gap impurities, the number of the probes 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 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 rotating 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 to V10 correspond to B1 to 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 modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. 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 (1)
1. The utility model provides a digit control machine tool iron fillings cleaning device based on flow detection, includes 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 exploring 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), a brush (8) is fixedly installed on the bottom of the cleaning disc (6), a first suction inlet (7) is formed in the bottom of the shell (1), rollers (4) are installed in a corner region of the bottom of the shell (1) through bearings, a motor is installed inside the shell (1), a charging port is formed in the top of the shell (1), annular grooves (13) are formed in the side faces of the exploring wheels (5), a second suction inlet (12) is formed in an inner middle region of the annular groove (13), the second suction inlet (12) is connected with a garbage extracting box (10) through a pipeline, the first suction inlet (7) is connected with an extracting box (10) through a pipeline, a rotating shaft (13) is installed in the annular groove, and another end face of a grinding disc (11) is installed in a rotating shaft; 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 judgment 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 judgment is correct, the path is short and irregular, the starting point of equipment replacement is modeled again, the material is rock plates, the gap is detected by a camera, the gap is a concave area compared with the rock plates and is different from the height of the surfaces of the rock plates, therefore, the gap between the rock plates is detected, if the camera (3) detects the ceramic tiles, the light reflection of the ceramic tiles reflects the camera, and the detection result of the camera (3) generates errors;
handle (2) are installed at the top of shell (1), install roller bearing (9) in the middle of the top of shell (1), the workman can be lifted whole equipment, and folding through the roller bearing carries out 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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CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
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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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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 |
CN106270687B (en) * | 2016-10-15 | 2018-05-01 | 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 |
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 |
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CN109144067A (en) * | 2018-09-17 | 2019-01-04 | 长安大学 | A kind of Intelligent cleaning robot and its paths planning method |
CN110063694A (en) * | 2019-04-28 | 2019-07-30 | 彭春生 | A kind of binocular sweeping robot and working method |
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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