CN116079208A - Angle steel plasma cutting system - Google Patents
Angle steel plasma cutting system Download PDFInfo
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- CN116079208A CN116079208A CN202310377503.XA CN202310377503A CN116079208A CN 116079208 A CN116079208 A CN 116079208A CN 202310377503 A CN202310377503 A CN 202310377503A CN 116079208 A CN116079208 A CN 116079208A
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- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K10/00—Welding or cutting by means of a plasma
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The utility model discloses an angle steel plasma cutting system, which belongs to the field of angle steel processing machinery, and comprises the following main equipment: the frame body, plasma cutting rifle head, robot motor unit, monitoring camera, robot fixing base, plasma cutting operation panel, cylinder, clamp arm, drag the motor, roller transmission unit, the skip car, well accuse system, wherein well accuse system can be through on the plasma cutting robot monitoring camera is fixed a position on the angle steel to control cylinder presss from both sides tightly and drags the unit and carry out fixed in position and adjust the angle steel, guarantees the stability that the angle steel carries out the angle cutting working position on the plasma cutting operation panel, and does not need the workman to fix a position and remove the angle steel in whole cutting process, has practiced thrift the human cost, has guaranteed product quality's uniformity and has improved work efficiency.
Description
Technical Field
The utility model relates to the field of angle steel processing machinery, in particular to an angle steel plasma cutting system.
Background
In the transmission line iron tower, angle steel and angle steel components are connected and installed, interference collision occurs, angle steel is needed to be subjected to angle cutting treatment, and angle steel angle cutting is generally carried out by adopting a press machine within the thickness range allowing shearing, but because angle steel specifications are different, angle cutting sizes are different, each angle steel is usually needed to be scored by a stone pen, and then batch shearing angle cutting is carried out, so that the processing efficiency is low; and the angle steel placement angles need to be frequently replaced when the angle cutting sizes are different, so that the labor intensity is high.
Chinese patent publication No.: CN217070357U discloses an angle steel corner cutting tool, which comprises a press, the top bolt of press has the cutter bottom plate, the top bolt of cutter bottom plate has the cutter lower mould that iron wedge constitutes, the stroke upper end bolt of press has the cutter to go up the mould, one side of press is provided with two circular arc tracks, the top of circular arc track is provided with the bottom plate, the bottom bolt of bottom plate has a plurality of walking wheels with circular arc track looks adaptation, the top bolt of bottom plate has a plurality of steel pipe; the utility model is provided with two circular arc tracks, the travelling wheels are fixed through the shaft pins and used for travelling on the circular arc tracks, the guide wheels are arranged on the side surfaces of the circular arc tracks and used for preventing the falling off of the tracks, the potential safety hazard is avoided, the supporting plate adopts a rolling ball structure, the three hundred sixty degrees of rotation can be realized, the placing angle of the angle steel can be quickly adjusted, the time and the labor are saved, and the labor intensity of workers is greatly reduced.
The device does not set up monitoring camera and well accuse system, can't carry out automatic chamfer work to angle steel chamfer according to weight, material, surface friction coefficient and chamfer interval, chamfer shape, chamfer number of angle steel, carries out the chamfer to the angle steel by manual operation, and production efficiency is low, and the security is poor, and manufacturing cost is high, hardly satisfies user and market demand.
Disclosure of Invention
Therefore, the utility model provides an angle steel plasma cutting system, which is used for solving the problems that in the prior art, automatic angle cutting work cannot be performed on angle steel angle cutting according to the weight, the material and the surface friction coefficient of the angle steel, the angle cutting distance, the angle cutting shape and the angle cutting number of the angle steel, and the angle steel is cut by manual operation, so that the production efficiency is low, the safety is poor and the production cost is high.
In order to achieve the above object, the present utility model provides an angle steel plasma cutting system, which is characterized by comprising,
a frame body provided on the ground for fixing the system components;
the plasma cutting robot is arranged on the frame body and comprises a plasma cutting gun head, a robot motor unit, a monitoring camera and a robot fixing seat, and is used for detecting the position of angle steel and performing angle cutting operation on the angle steel;
the plasma cutting operation table is arranged on the frame body and is used for bearing the corner cutting part of the angle steel;
the cylinder clamping and dragging unit is arranged on the frame body and comprises a cylinder, a clamping arm and a dragging motor, and is used for fixing and dragging the angle steel;
the roller transmission unit is arranged on the frame body and is horizontally connected with the plasma cutting operation table;
the waste skip is arranged on the ground, is connected with the frame body and is used for collecting waste materials after angle steel corner cutting;
the central control system is arranged on the frame body, is connected with the plasma cutting robot, the cylinder clamping and dragging unit, the transmission unit and the waste truck through a signal transmission line, and can position the corner cutting position on the angle steel through the monitoring camera on the plasma cutting robot, control the cylinder clamping and dragging unit to fix and adjust the position of the angle steel, and ensure the stability of the corner cutting working position of the angle steel on the plasma cutting operation table.
Further, the central control system calculates single-time dragging power of the dragging motor according to the combination of the weight, the material and the surface friction coefficient of the angle steel in the angle cutting condition and the angle cutting distance in the scheme, and controls the cylinder clamping and dragging unit to drag the angle steel each time according to the calculated single-time dragging power when the angle cutting operation starts, so that the angle steel reaches the standard angle cutting point on the plasma cutting operation table in each dragging of the cylinder clamping and dragging unit;
the data set in the corner cutting conditions comprise the weight, the material and the surface friction coefficient of the angle steel, and the corner cutting distance, the corner cutting shape and the number of the corner cutting conditions.
Further, the central control system controls the transmission unit to convey the angle steel to the plasma cutting operation table, operates the monitoring camera to observe the plasma cutting operation table, and controls the roller transmission unit to stop running and the cylinder clamping and dragging unit to fix the angle steel when the monitoring camera observes that the first angle cutting position of the angle steel reaches the standard angle cutting position on the plasma cutting operation table, and controls the plasma cutting robot to cut the angle at the angle cutting position;
and after the angle cutting is finished, the central control system controls the dragging motor to operate according to single dragging power, and the air cylinder clamps the dragging unit to drag the angle steel, so that the next angle cutting position of the angle steel moves to a standard angle cutting place on the plasma cutting operation table.
Further, the central control system divides a region of the plasma cutting operation table, which is at a certain distance along the front end and the rear end of the angle steel production line, into a cutting prohibition region, wherein one end, which is close to the angle steel feeding, is a near-end cutting prohibition region, one end, which is far away from the angle steel feeding, is a far-end cutting prohibition region, the middle of the cutting prohibition region at the front end and the rear end is divided into a cutting prohibition region, and the length of the cutting prohibition region along the angle steel production line is the length of the cutting prohibition region;
after the cylinder clamping and dragging unit finishes fixing angle steel, the central control system controls the monitoring camera to position the angle cutting position on the angle steel, the position on the plasma cutting operation table corresponding to the position is set as an actual angle cutting position, the central control system calculates and records distance length data of the actual angle cutting position and the standard angle cutting position, the distance length data is set as an angle cutting deviation distance, the deviation direction of the actual angle cutting position relative to the standard angle cutting position is the angle cutting deviation direction, the deviation direction points to the far-end forbidden cutting area to be far-end deviation, and the deviation direction points to the near-end forbidden cutting area to be near-end deviation.
In particular, the central control system compares the pitch of the chamfer in the chamfer scheme being performed with the length of the cuttable region at the beginning of the chamfer,
the chamfer scheme is classified into a long chamfer interval scheme and a short chamfer interval scheme,
if the cutting angle interval is larger than the length of the cutting area, the central control system selects a long cutting angle interval scheme as a cutting angle processing scheme;
and if the cutting angle interval is smaller than or equal to the length of the cuttable region, the central control system selects a short cutting angle interval scheme as a cutting angle processing scheme.
Particularly, when a long corner cutting distance scheme is operated, the central control system records the actual corner cutting place and the corner cutting deviation distance of each time through the data returned by the monitoring camera, analyzes the actual corner cutting place and the corner cutting deviation distance of each time, and acquires the increment value of the corner cutting deviation distance of each time;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting place is subjected to deviation accumulation again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting place is pre-judged to be in a remote cutting prohibition area, the dragging motor is controlled to reduce the single dragging power before the next angle cutting according to the increment value of the angle cutting deviation distance;
if the current angle cutting deviation is the near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the single dragging power of the dragging motor before the next angle cutting is controlled to be improved according to the increment value of the angle cutting deviation distance;
the central control system predicts that the actual corner cutting place at the next time is in the cutting inhibition area, only the next single-time dragging power is modified, and the original single-time dragging power is kept unchanged.
Further, when the central control system starts cutting angles and runs a short-cut angle interval scheme, the central control system records the actual cutting angle place and the cutting angle deviation distance of each time through the data returned by the monitoring camera, analyzes the actual cutting angle place and the cutting angle deviation distance of each time, and obtains the increment value of the cutting angle deviation distance of each time;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting place is subjected to deviation accumulation again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting place is pre-judged to be in a remote cutting prohibition area, and the dragging motor is controlled to stop dragging the angle steel once before the next angle cutting;
if the current angle cutting deviation is the near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the dragging motor is controlled to drag the diagonal steel twice before the next angle cutting.
Further, the central control system records the adjustment times of adjusting the single-time dragging power, stops single-time dragging or increases the adjustment times of two times dragging, and calculates the actual adjustment frequency according to the ratio of the dragging times of the cylinder clamping dragging unit to the adjustment times;
and when the actual adjusting frequency is larger than the adjusting frequency reference value, the central control system comprehensively calculates correct single-time dragging power according to the corner cutting deviation distance and the corner cutting deviation direction in the corner cutting process, and uses the correct single-time dragging power in the next dragging operation of the dragging motor.
Further, when the central control system judges that the actual corner cutting place is in the cutting prohibition area, the central control system controls the cylinder clamping and dragging unit to reset the angle steel, and the corner cutting position on the angle steel is moved to the standard corner cutting place on the plasma cutting operation table.
Further, after the central control system judges that the angle cutting of the single angle steel is finished, the cylinder clamping and dragging unit is controlled to place the angle steel in a next processing area, and the clamping arm is controlled to loosen the fixing of the angle steel;
the waste truck can detect the weight of waste in the truck and transmit the weight of the waste to the central control system in real time,
the waste weight cleaning reference value is arranged in the central control system, the waste weight is compared with the waste weight cleaning reference value, and when the waste weight is greater than or equal to the waste weight cleaning reference value, the central control system sends a waste cleaning instruction to staff.
Compared with the prior art, the utility model has the beneficial effects that: according to the utility model, the central control system and the monitoring camera on the plasma cutting robot are arranged to position the corner cutting position on the angle steel, and the cylinder clamping and dragging unit is controlled to fix and adjust the position of the angle steel, so that the stability of the corner cutting working position of the angle steel on the plasma cutting operation table is ensured, and the angle steel is not required to be positioned and moved by workers in the whole cutting process, so that the labor cost is saved, the consistency of the product quality is ensured, and the working efficiency is improved;
the central control system makes a scheme for angle cutting work of the angle steel by analyzing the weight, the material and the surface friction coefficient of the angle steel, the angle cutting distance, the angle cutting shape and the angle cutting number, so that the positioning accuracy of the angle steel is ensured;
the central control system divides the areas of the plasma cutting operation table, so that the safety of surrounding equipment is ensured, the central control system can adjust the single dragging power in advance, and the stability of an actual corner cutting place is ensured;
the central control system performs comparison analysis on the cutting angle spacing and the cutting area length, so that different error compensation measures are respectively specified for angle steel with long cutting angle spacing and short cutting angle spacing, and the self-adaption capability of the system is improved;
the central control system only modifies the single dragging power of the dragging motor once, so that the existing error is compensated, and the accuracy of the dragging distance is ensured;
the central control system judges whether the current single dragging power is correct or not by recording the actual adjusting frequency, and the stability and the automation degree of the system are improved.
Drawings
Fig. 1 is a schematic structural diagram of an angle steel plasma cutting system in an embodiment of the utility model.
Detailed Description
In order that the objects and advantages of the utility model will become more apparent, the utility model will be further described with reference to the following examples; it should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Preferred embodiments of the present utility model are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present utility model, and are not intended to limit the scope of the present utility model.
It should be noted that, in the description of the present utility model, terms such as "upper," "lower," "left," "right," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.
Furthermore, it should be noted that, in the description of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those skilled in the art according to the specific circumstances.
Referring to the illustration of figure 1 of the drawings,
the utility model provides an angle steel plasma cutting system, which comprises,
a frame 1 provided on the ground for fixing system components;
the plasma cutting robot is arranged on the frame body 1 and comprises a plasma cutting gun head 2, a robot motor unit 3, a monitoring camera 4 and a robot fixing seat 5, wherein the robot motor unit 3 is fixed on the robot fixing seat 5 and drives the plasma cutting gun head 2 and the monitoring camera 4 to move for detecting the position of angle steel and performing angle cutting operation on the angle steel;
a plasma cutting operation table 6, which is arranged on the frame body 1 and is used for bearing the corner cutting part of the angle steel;
the cylinder clamping and dragging unit is arranged on the frame body 1 and comprises a cylinder 7, a clamping arm 8 and a dragging motor 9, wherein the cylinder 7 provides clamping pressure for the clamping arm 8, the clamping arm 8 clamps and fixes angle steel, and the dragging motor 9 drags the angle steel for fixing and dragging the angle steel;
the roller transmission unit 10 is arranged on the frame body 1 and is horizontally connected with the plasma cutting operation table 6;
the waste trolley 11 is arranged on the ground, is connected with the frame body 1 and is used for collecting waste materials after angle steel corner cutting;
the central control system 12 is arranged on the frame body 1, and is connected with the plasma cutting robot, the cylinder clamping and dragging unit, the transmission unit and the scrap trolley 11 through a signal transmission line, the central control system 12 can position the corner cutting position on the angle steel through the monitoring camera 4 on the plasma cutting robot, and control the cylinder clamping and dragging unit to fix and adjust the position of the angle steel, so that the stability of the corner cutting working position of the angle steel on the plasma cutting operation table 6 is ensured.
Further, the central control system 12 calculates single-time dragging power of the dragging motor 9 according to the combination of the weight, the material and the surface friction coefficient of the angle steel in the angle cutting condition and the angle cutting distance in the scheme, and controls the cylinder clamping and dragging unit to drag the angle steel each time according to the calculated single-time dragging power when the angle cutting operation starts, so that the angle steel reaches the standard angle cutting point on the plasma cutting operation table 6 in each dragging of the cylinder clamping and dragging unit;
the data set in the corner cutting conditions comprise the weight, the material and the surface friction coefficient of the angle steel, and the corner cutting distance, the corner cutting shape and the number of the corner cutting conditions.
If the central control system 12 does not analyze the characteristics of each aspect of the angle steel, the single dragging power of the dragging motor 9 in the cylinder clamping dragging unit cannot be determined according to the actual condition of the angle steel, and the central control system 12 performs scheme formulation for the angle cutting operation of the angle steel by analyzing the weight, the material, the surface friction coefficient, the angle cutting distance, the angle cutting shape and the angle cutting number of the angle steel, so that the positioning accuracy of the angle steel is ensured.
Further, the central control system 12 controls the transmission unit to convey the angle steel to the plasma cutting operation table 6, and operates the monitoring camera 4 to observe the plasma cutting operation table 6, when the monitoring camera 4 observes that the first corner cutting position of the angle steel reaches the standard corner cutting position on the plasma cutting operation table 6, the central control system 12 controls the roller transmission unit 10 to stop running, controls the cylinder clamping and dragging unit to fix the angle steel, controls the plasma cutting robot to cut the corner cutting position on the angle steel,
and after the angle cutting is finished, the central control system 12 controls the dragging motor 9 to operate according to single dragging power, and the cylinder clamps the dragging unit to drag the angle steel, so that the next angle cutting position of the angle steel moves to a standard angle cutting place on the plasma cutting operation table.
Further, the central control system 12 divides the area of the plasma cutting operation table 6 with a certain distance along the front and rear ends of the angle steel production line into a cutting prohibition area, one end close to the angle steel feeding is a near-end cutting prohibition area, one end far away from the angle steel feeding is a far-end cutting prohibition area, the middle of the cutting prohibition areas at the front and rear ends is divided into a cutting prohibition area, and the length of the cutting prohibition area along the angle steel production line is the length of the cutting prohibition area;
after the fixing of the angle steel is completed by the cylinder clamping and dragging unit, the central control system 12 controls the monitoring camera 4 to position the angle cutting position on the angle steel, the position on the plasma cutting operation table 6 corresponding to the position is set as an actual angle cutting position, the central control system 12 calculates and records distance length data of the actual angle cutting position and the standard angle cutting position, the distance length data is set as an angle cutting deviation distance, the deviation direction of the actual angle cutting position relative to the standard angle cutting position is the angle cutting deviation direction, the deviation direction points to the far-end forbidden cutting area to be far-end deviation, and the deviation direction points to the near-end forbidden cutting area to be near-end deviation.
If the plasma cutting operation table 6 is not divided into areas, when the plasma cutting robot cuts the corners at the edge of the plasma cutting operation table 6, devices around the plasma cutting operation table 6 are affected by high temperature of plasma cutting, so that the devices are damaged, the central control system 12 ensures the safety of surrounding equipment by dividing the areas of the plasma cutting operation table 6, and the central control system 12 can adjust the single dragging power in advance, so that the stability of the actual corner cutting place is ensured.
In particular, the central control system 12 compares the pitch of the chamfer in the chamfer protocol being performed to the length of the cuttable region at the beginning of the chamfer,
the chamfer scheme is classified into a long chamfer interval scheme and a short chamfer interval scheme,
if the cutting angle interval is greater than the length of the cutting area, the central control system 12 selects a long cutting angle interval scheme as a cutting angle processing scheme;
if the chamfer spacing is less than or equal to the length of the cuttable region, the central control system 12 selects the short chamfer spacing scheme as the chamfer machining scheme.
If the central control system 12 does not compare and analyze the chamfer interval with the length of the cutting zone, when the chamfer deviation occurs, the central control system 12 cannot perform the most suitable adjustment on the dragging motor 9, thereby causing disorder of system adjustment, and the central control system 12 respectively prescribes different error compensation measures for angle steel with long chamfer interval and short chamfer interval through comparing and analyzing the chamfer interval with the length of the cutting zone, so that the self-adaptive capacity of the system is improved.
In particular, when the long-cut-angle spacing scheme is operated, the central control system 12 records the actual cut-angle position and the cut-angle deviation distance of each time through the data returned by the monitoring camera 4, analyzes the actual cut-angle position and the cut-angle deviation distance of each time, and obtains the increment value of the cut-angle deviation distance of each time;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting point is subjected to deviation accumulation again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in a remote cutting prohibition area, controlling the dragging motor 9 to reduce single dragging power before the next angle cutting according to the increment value of the angle cutting deviation distance;
if the current angle cutting deviation is a near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the dragging motor 9 is controlled to increase the single dragging power before the next angle cutting according to the increment value of the angle cutting deviation distance;
the central control system 12 predicts that the actual corner cutting place at the next time is in the cutting prohibition area, only the next single-time dragging power is modified, and the original single-time dragging power is kept unchanged.
If the central control system determines that the next actual corner cutting point is in the cutting prohibition region, the original single-time dragging power is modified, then after the next actual corner cutting is completed, the power of the dragging motor 9 is greatly different from the correct power, and when the central control system 12 determines that the next actual corner cutting point is in the cutting prohibition region, the central control system 12 only modifies the single-time dragging power of the dragging motor 9 once, so that the existing error is compensated, and the accuracy of the dragging distance is ensured.
Further, when the central control system 12 starts cutting the angle and runs the short-cut angle interval scheme, the central control system 12 records the deviation distance between each actual cutting angle place and the cutting angle through the data returned by the monitoring camera 4, analyzes the deviation distance between the actual cutting angle place and each cutting angle, and obtains the increment value of the deviation distance of each cutting angle;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting point is added up again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the remote cutting prohibition area, the dragging motor 9 is controlled to stop dragging the angle steel once before the next angle cutting;
if the current angle cutting deviation is a near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the dragging motor 9 is controlled to drag the diagonal steel twice before the next angle cutting.
Further, the central control system 12 records the adjustment times of adjusting the single-time dragging power, stops single-time dragging or increases the adjustment times of two-time dragging, and calculates the actual adjustment frequency according to the ratio of the dragging times of the cylinder clamping dragging unit to the adjustment times;
and an adjusting frequency reference value is arranged in the central control system 12, when the actual adjusting frequency is larger than the adjusting frequency reference value, the central control system 12 comprehensively calculates correct single dragging power according to the cutting angle deviation distance and the cutting angle deviation direction in the cutting angle process, and the correct single dragging power is used in the next dragging operation of the dragging motor 9.
If the central control system 12 does not calculate the actual adjustment frequency according to the ratio of the number of times of dragging to the number of times of adjustment, when the motor 9 dragged by the cylinder clamping and dragging unit needs to be adjusted frequently, the central control system 12 cannot determine whether the single dragging power needs to be modified, so that the stability of the system is reduced, the central control system 12 determines whether the current single dragging power is correct by recording the actual adjustment frequency, and the stability and the degree of automation of the system are improved.
Further, when the central control system 12 determines that the actual corner cutting point is in the cutting prohibition area, the central control system 12 controls the cylinder clamping and dragging unit to reset the angle steel, and moves the corner cutting position on the angle steel to the standard corner cutting point on the plasma cutting operation table 6.
Further, after the central control system 12 determines that the angle cutting of the single angle steel is finished, controlling the cylinder clamping and dragging unit to place the angle steel in a next processing area, and controlling the clamping arm 8 to loosen the fixing of the angle steel;
the waste truck 11 is capable of detecting the weight of waste in the truck, and transmitting the weight of waste in real time into the central control system 12,
the central control system 12 is provided with a waste weight cleaning reference value, the waste weight is compared with the waste weight cleaning reference value, and when the waste weight is greater than or equal to the waste weight cleaning reference value, the central control system 12 sends a waste cleaning instruction to a worker.
Thus far, the technical solution of the present utility model has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present utility model is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present utility model, and such modifications and substitutions will be within the scope of the present utility model.
Claims (10)
1. A plasma cutting system for angle steel is characterized by comprising,
a frame body provided on the ground for fixing the system components;
the plasma cutting robot is arranged on the frame body and comprises a plasma cutting gun head, a robot motor unit, a monitoring camera and a robot fixing seat, and is used for detecting the position of angle steel and performing angle cutting operation on the angle steel;
the plasma cutting operation table is arranged on the frame body and is used for bearing the corner cutting part of the angle steel;
the cylinder clamping and dragging unit is arranged on the frame body and comprises a cylinder, a clamping arm and a dragging motor, and is used for fixing and dragging the angle steel;
the roller transmission unit is arranged on the frame body and is horizontally connected with the plasma cutting operation table;
the waste skip is arranged on the ground, is connected with the frame body and is used for collecting waste materials after angle steel corner cutting;
the central control system is arranged on the frame body, is connected with the plasma cutting robot, the cylinder clamping and dragging unit, the transmission unit and the waste truck through a signal transmission line, and can position the corner cutting position on the angle steel through the monitoring camera on the plasma cutting robot, control the cylinder clamping and dragging unit to fix and adjust the position of the angle steel, and ensure the stability of the corner cutting working position of the angle steel on the plasma cutting operation table.
2. The angle steel plasma cutting system according to claim 1, wherein the central control system calculates single-time dragging power of the dragging motor according to the combination of the weight, the material and the surface friction coefficient of the angle steel in the angle cutting condition and the angle cutting distance in the scheme, and controls the cylinder clamping dragging unit to drag the angle steel each time according to the calculated single-time dragging power when the angle cutting operation starts, so that the angle steel reaches the standard angle cutting point on the plasma cutting operation table in each dragging of the cylinder clamping dragging unit;
the data set in the corner cutting conditions comprise the weight, the material and the surface friction coefficient of the angle steel, and the corner cutting distance, the corner cutting shape and the number of the corner cutting conditions.
3. The angle steel plasma cutting system according to claim 2, wherein the central control system controls the transmission unit to convey angle steel to the plasma cutting operation table, operates the monitoring camera to observe the plasma cutting operation table, and controls the roller transmission unit to stop running and controls the cylinder clamping and dragging unit to fix angle steel and controls the plasma cutting robot to cut angle at the angle cutting position on the angle steel when the monitoring camera observes that the first angle cutting position of the angle steel reaches the standard angle cutting position on the plasma cutting operation table;
and after the angle cutting is finished, the central control system controls the dragging motor to operate according to single dragging power, and the air cylinder clamps the dragging unit to drag the angle steel, so that the next angle cutting position of the angle steel moves to a standard angle cutting place on the plasma cutting operation table.
4. The angle steel plasma cutting system according to claim 3, wherein the central control system divides a region of the plasma cutting operation table, which is located at a certain distance from the front end and the rear end in the direction of the angle steel production line, into a cutting prohibition region, one end, which is close to the angle steel feeding, is a near-end cutting prohibition region, one end, which is far away from the angle steel feeding, is a far-end cutting prohibition region, the middle of the cutting prohibition region at the front end and the rear end is divided into a cutting region, and the length of the cutting region in the direction of the angle steel production line is the length of the cutting region;
after the cylinder clamping and dragging unit finishes fixing angle steel, the central control system controls the monitoring camera to position the angle cutting position on the angle steel, the position on the plasma cutting operation table corresponding to the position is set as an actual angle cutting position, the central control system calculates and records distance length data of the actual angle cutting position and the standard angle cutting position, the distance length data is set as an angle cutting deviation distance, the deviation direction of the actual angle cutting position relative to the standard angle cutting position is the angle cutting deviation direction, the deviation direction points to the far-end forbidden cutting area to be far-end deviation, and the deviation direction points to the near-end forbidden cutting area to be near-end deviation.
5. The angle iron plasma cutting system of claim 4, wherein the central control system compares the pitch of the cutting angle in the cutting angle scheme being performed with the length of the cuttable region at the beginning of the cutting angle,
the chamfer scheme is classified into a long chamfer interval scheme and a short chamfer interval scheme,
if the cutting angle interval is larger than the length of the cutting area, the central control system selects a long cutting angle interval scheme as a cutting angle processing scheme;
and if the cutting angle interval is smaller than or equal to the length of the cuttable region, the central control system selects a short cutting angle interval scheme as a cutting angle processing scheme.
6. The angle steel plasma cutting system according to claim 5, wherein when the long-cut angle interval scheme is operated, the central control system records the deviation distance between each actual cut angle place and the cut angle through the data returned by the monitoring camera, analyzes the deviation distance between the actual cut angle place and each cut angle, and obtains the increment value of the deviation distance of each cut angle;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting place is subjected to deviation accumulation again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting place is pre-judged to be in a remote cutting prohibition area, the dragging motor is controlled to reduce the single dragging power before the next angle cutting according to the increment value of the angle cutting deviation distance;
if the current angle cutting deviation is the near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the single dragging power of the dragging motor before the next angle cutting is controlled to be improved according to the increment value of the angle cutting deviation distance;
the central control system predicts that the actual corner cutting place at the next time is in the cutting inhibition area, only the next single-time dragging power is modified, and the original single-time dragging power is kept unchanged.
7. The angle steel plasma cutting system according to claim 5, wherein when the short-cut angle interval scheme is operated, the central control system records the actual cut angle place and the cut angle deviation distance of each time through the data returned by the monitoring camera, analyzes the actual cut angle place and the cut angle deviation distance of each time, and acquires the increment value of the cut angle deviation distance of each time;
if the current angle cutting deviation is a remote deviation, and the current actual angle cutting place is subjected to deviation accumulation again in the remote deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting place is pre-judged to be in a remote cutting prohibition area, and the dragging motor is controlled to stop dragging the angle steel once before the next angle cutting;
if the current angle cutting deviation is the near deviation, and the current actual angle cutting point is accumulated in the near deviation direction by the increment value of the current angle cutting deviation distance, so that the next actual angle cutting point is pre-judged to be in the near cutting prohibition area, the dragging motor is controlled to drag the diagonal steel twice before the next angle cutting.
8. The angle steel plasma cutting system according to claim 7, wherein the central control system records the adjustment times of adjusting the single-time dragging power, stops single-time dragging or increases the adjustment times of two-time dragging, and calculates the actual adjustment frequency according to the ratio of the dragging times of the cylinder clamping dragging unit to the adjustment times;
and when the actual adjusting frequency is larger than the adjusting frequency reference value, the central control system comprehensively calculates correct single-time dragging power according to the corner cutting deviation distance and the corner cutting deviation direction in the corner cutting process, and uses the correct single-time dragging power in the next dragging operation of the dragging motor.
9. The angle steel plasma cutting system according to claim 4, wherein when the central control system judges that the actual angle cutting place is in the cutting prohibition area, the central control system controls the cylinder clamping and dragging unit to reset the angle steel, and the angle cutting position on the angle steel is moved to the standard angle cutting place on the plasma cutting operation table.
10. The angle steel plasma cutting system according to claim 1, wherein after the central control system judges that the angle cutting of the single angle steel is finished, the cylinder clamping and dragging unit is controlled to place the angle steel in a next processing area, and the clamping arm is controlled to loosen the fixing of the angle steel;
the waste truck can detect the weight of waste in the truck and transmit the weight of the waste to the central control system in real time,
the waste weight cleaning reference value is arranged in the central control system, the waste weight is compared with the waste weight cleaning reference value, and when the waste weight is greater than or equal to the waste weight cleaning reference value, the central control system sends a waste cleaning instruction to staff.
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