CN116372607A - Intelligent device for milling allowance of aluminum alloy chute of high-speed railway body and control method thereof - Google Patents
Intelligent device for milling allowance of aluminum alloy chute of high-speed railway body and control method thereof Download PDFInfo
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- CN116372607A CN116372607A CN202310364077.6A CN202310364077A CN116372607A CN 116372607 A CN116372607 A CN 116372607A CN 202310364077 A CN202310364077 A CN 202310364077A CN 116372607 A CN116372607 A CN 116372607A
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- 229910000838 Al alloy Inorganic materials 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 15
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- 238000004140 cleaning Methods 0.000 claims abstract description 18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/28—Grooving workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
- B23Q1/015—Frames, beds, pillars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/10—Control of position or direction without using feedback
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention relates to the technical field of milling equipment, and provides a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed railway body and a control method thereof, wherein the device comprises the following components: the adjustable milling mechanism, the travelling mechanism, the sucker fixing mechanism and the chip cleaning and milling mechanism; the running gear includes: a frame and four sets of wheel devices mounted on the frame; the adjustable milling mechanism includes: the milling device comprises a Y-axis ball screw, a Z-axis ball screw, a milling device and two X-axis ball screws; the sucker fixing mechanism is arranged on the frame; the chip cleaning and milling mechanism is arranged at the front end of the frame and/or the rear end of the frame. The milling device can improve the milling working efficiency, and has stable milling process and no damage to the processed surface.
Description
Technical Field
The invention relates to the technical field of milling equipment, in particular to a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed railway car body and a control method thereof.
Background
The aluminum alloy sliding groove is formed when the high-iron aluminum alloy vehicle body is integrally formed, a certain allowance needs to be reserved, the attractive appearance of the vehicle body and the normal operation of a coating process are ensured in order to ensure the mounting position precision of necessary parts of the vehicle body, and after the welding work of the aluminum alloy vehicle body is finished, the sliding groove for mounting important parts needs to be subjected to back gouging treatment, namely the allowance of the sliding groove is removed. The main work and the requirements of the flattening treatment of the redundant chute are as follows: the redundant slide groove is removed on the premise of not damaging the parent metal of the automobile body, the transition part of the parent metal and the slide groove is smooth, and the removed part is smooth and flat.
At present, the post-treatment work of the aluminum alloy car body sliding chute is mainly finished by manual polishing, the aluminum alloy car body sliding chute is manually polished, and workers hold tools such as an angle grinder and the like to grind and back-off the sliding chute of the aluminum alloy chassis. The grinding mode of grinding is a machining mode with low material removal efficiency, the residual height of 5-10mm is reserved in the aluminum alloy car body chute, the manual grinding time of workers is long, the production efficiency is low, and the labor intensity of the workers is high. Because the grinding allowance is continuously changed during grinding, the grinding pressure and the grinding speed are required to be manually controlled in real time by workers, the grinding technical requirements on the workers are high, and the base metal is easy to damage.
Disclosure of Invention
The invention mainly solves the technical problems that the manual hand-held angle grinder is used for grinding most for the back chipping of the aluminum alloy sliding chute allowance of the high-speed railway body at present, the grinding efficiency is low, the labor intensity of workers is overlarge, the grinding degree is unstable and the like, and provides a device for intelligently milling the aluminum alloy sliding chute allowance of the high-speed railway body and a control method thereof, wherein the milling process is stable, the machined surface is not damaged, and the working efficiency of milling is improved.
The invention provides a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed railway car body, which comprises: the adjustable milling mechanism, the travelling mechanism, the sucker fixing mechanism and the chip cleaning and milling mechanism;
the running gear includes: a frame and four sets of wheel devices mounted on the frame;
the adjustable milling mechanism includes: the milling device comprises a Y-axis ball screw, a Z-axis ball screw, a milling device and two X-axis ball screws;
two X-axis ball screws are arranged on the frame; y-axis ball screws are arranged on the two X-axis ball screws in a sliding manner; the Y-axis ball screw is provided with a Z-axis ball screw in a sliding manner; the Z-axis ball screw is provided with a milling device in a sliding manner;
the sucker fixing mechanism is arranged on the frame;
the chip cleaning and milling mechanism is arranged at the front end of the frame and/or the rear end of the frame;
the clearance milling bits mechanism includes: the device comprises a small centrifugal fan, a transmission shaft, a chip suction motor and a motor fixing seat;
the motor fixing seat is fixed on the frame; the motor fixing seat is provided with a chip suction motor; the small centrifugal fan is connected with the chip suction motor through a transmission shaft.
Preferably, the wheel device includes: the device comprises a synchronous motor, a planetary reducer, a first driving wheel, a conveying belt, a third driving wheel, a wheel shaft and a Mecanum wheel;
the output end of the synchronous motor is provided with a planetary reducer, and the output end of the planetary reducer is provided with a first driving wheel;
the first driving wheel is connected with the third driving wheel through a conveying belt;
the wheel shaft is arranged in the axial direction of the third driving wheel;
and a Mecanum wheel is arranged on the wheel shaft.
Preferably, a fixed plate is arranged at the output end of the planetary reducer; the fixed plate is fixed on a cross beam of the frame;
a second driving wheel is arranged in the conveying belt;
an extension bolt is axially arranged on the second driving wheel;
the lengthened bolt is connected with the fixed plate.
Preferably, one end of the wheel shaft is provided with a wheel shaft fixing block, and the other end of the wheel shaft is provided with a first shaft sleeve;
the wheel axle is arranged on a cross beam of the frame through an axle fixing block and a first shaft sleeve;
the Mecanum wheel is arranged on the wheel shaft through a coupler and a second shaft sleeve;
and a gasket is arranged between the coupler and the second shaft sleeve.
Preferably, the X-axis ball screw is arranged on the frame through a bearing fixing seat;
the screw rods of the two X-axis ball screws are connected through a conveyor belt, and the screw lever of one X-axis ball screw is connected with an X-axis driving motor;
the screw lever of the Y-axis ball screw is connected with a Y-axis driving motor;
and a screw lever of the Z-axis ball screw is connected with a Z-axis driving motor.
Preferably, the milling device comprises: milling cutter, fixture body circular plate, fixture body fixing seat and milling motor;
the fixture body fixing seat is fixed with the sliding block of the Z-axis ball screw; a milling motor is arranged on the fixture body fixing seat;
the milling motor is connected with the clamp body; the lower end of the clamp body is provided with a clamp body circular plate;
the upper end of the milling cutter penetrates through the circular plate of the clamp body and is installed in the clamp body, and the milling cutter is connected with an output shaft of the milling motor.
Preferably, the sucker fixing mechanism includes: the device comprises a fixed seat, an electric push rod, a push rod bearing column, a sucker connecting rod, a sucker and a vacuum generator;
the fixed seat is arranged on a cross beam of the frame;
two electric push rods are fixed on the bottom surface of the fixed seat;
the electric push rod is connected with the push rod bearing column in a matched manner;
sucker connecting rods are respectively arranged at two ends of the push rod bearing column;
the top of the sucker connecting rod is in sealing connection with the push rod bearing column, the sucker connecting rod is hollow, and the bottom of the sucker connecting rod is communicated with the sucker;
the vacuum generator is arranged on the sucker connecting rod and connected with an air hole pipeline at the top of the sucker.
Preferably, one or more of a monocular camera, an LED lamp and a laser range finder are arranged on the frame;
the monocular camera and the LED lamp are respectively fixed at the front end and/or the rear end of the frame; the two laser rangefinders are respectively fixed on the frame;
a control mechanism is also arranged on the frame;
the control mechanism includes: the singlechip and the crystal oscillator circuit; the single chip microcomputer is respectively connected with the synchronous motor through signals;
the crystal oscillator circuit is in signal connection with the singlechip.
Correspondingly, the invention also provides a control method of the intelligent device for milling the allowance of the aluminum alloy chute of the high-speed railway body, which is provided by any embodiment of the invention, and comprises the following steps:
step 1, moving a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed rail car body to a high-speed rail bottom plate, and starting the device; identifying a chute baseline of the high-speed rail bottom plate through a monocular camera, and cleaning milling scraps on the high-speed rail bottom plate in front of the travelling device through a cleaning milling scraps mechanism;
and 4, controlling the adjustable milling mechanism to perform back chipping.
Preferably, in step 2, the following procedure is included:
step 201, controlling the position deviation correction of the travelling mechanism through a PID control algorithm: recording the rotation angle of the synchronous motor at the initial position and the included angle between the travelling mechanism and the chute datum line; setting an expected rotation angle of the running gear, utilizing a controller of the synchronous motor to send a pulse signal to enable the synchronous motor to start rotating, recording an included angle between the running gear and a chute datum line after rotating, and feeding back the included angle through a sensor to enable the next pulse signal to be changed; repeating the above actions until the included angle is zero;
wherein, if the included angle between the initial position of the travelling mechanism and the base line of the chute is theta, the initial position of the travelling mechanism is arranged
If the center rotation radius of the travelling mechanism is r and the length of the vehicle body is d, the travelling mechanism is provided with a plurality of wheels
The positional PID algorithm expression is:
E k ＝S v -X k
E k-1 ＝S v -X k-1
wherein S is v X is the initial rotation angle of the synchronous motor k For the kth sensor feedback angle, T is the calculation period, T i Is an integral constant, T D Is a differential constant; when feeding back for the first time E 1 =θ; wherein before the Mecanum wheel is parallel to the chute datum line, T i The value is infinity;
The invention provides a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed railway car body and a control method thereof, and the device comprises an adjustable milling mechanism, a traveling mechanism, a sucker fixing mechanism and a chip cleaning and milling mechanism. The intelligent trolley device can realize the works of autonomous recognition of the allowance of the sliding groove, omnibearing movement, track deviation correction, back chipping of the sliding groove and the like through the control system and the vision system. Compared with a manual handheld angle grinder for grinding the rest of the chute, the invention has the advantages of stable process, high processing precision and processing efficiency, good flexibility and reduced labor cost. The whole adjustable milling cutter and the clamp body thereof can be replaced by small-sized equipment such as a polishing machine and the like which are convenient to carry, so that other process requirements are met.
Drawings
FIG. 1 is a schematic structural view of the intelligent milling high-speed rail car body aluminum alloy chute allowance provided by the invention;
FIG. 2 is a schematic diagram of the structure of the running mechanism provided by the invention;
FIG. 3 is a schematic view of a wheel apparatus according to the present invention;
FIG. 4 is a schematic view of the adjustable milling mechanism provided by the present invention;
FIG. 5 is a schematic view of a milling device according to the present invention;
FIG. 6 is a schematic view of a chuck fixing mechanism according to the present invention;
FIG. 7 is a schematic view of a chip cleaning mechanism according to the present invention;
FIG. 8 is a schematic circuit diagram of a control mechanism provided by the present invention;
FIG. 9 is a schematic diagram of movement of Mecanum wheels provided by the present invention;
fig. 10 is a working schematic diagram of the intelligent milling high-speed railway body aluminum alloy chute allowance provided by the invention.
Reference numerals: 1. an adjustable milling mechanism; 2. a walking mechanism; 3. a sucker fixing mechanism; 4. cleaning a chip milling mechanism; 11. an X-axis ball screw; 12. a Y-axis ball screw; 13. a Z-axis ball screw; 14. a milling device; 15. a conveyor belt; 16. a bearing fixing seat; 101. a milling cutter; 102. a clamp body circular plate; 103. a clamp body; 104. a fixture body fixing seat; 105. milling a motor; 21. a wheel device; 22. a frame; 202. a wheel axle; 203. a wheel axle fixing block; 204. mecanum wheel; 205. a coupling; 206. a gasket; 207. a second sleeve; 208. lengthening the bolt; 209. a first driving wheel; 210. a conveyor belt; 211. a second driving wheel; 212. a third driving wheel; 213. a planetary reducer; 215. a synchronous motor; 216. a fixing plate; 218. a first sleeve; 31. a suction cup; 32. a vacuum generator; 33. a sucker connecting rod; 34. a push rod receiving column; 35. air holes; 36. an electric push rod; 37. a fixing seat; 41. a small centrifugal fan; 42. a transmission shaft; 43. a motor fixing seat; 44. and a chip suction motor.
Detailed Description
In order to make the technical problems solved by the invention, the technical scheme adopted and the technical effects achieved clearer, the invention is further described in detail below with reference to the accompanying drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings.
As shown in fig. 1, the device for intelligently milling the allowance of the aluminum alloy chute of the high-speed railway body provided by the embodiment of the invention comprises: an adjustable milling mechanism 1, a travelling mechanism 2, a sucker fixing mechanism 3 and a chip cleaning and milling mechanism 4.
As shown in fig. 2, the travelling mechanism 2 includes: a frame 22 and four sets of wheel assemblies 21 mounted on the frame 22.
As shown in fig. 3, the wheel device 21 includes: a synchronous motor 215, a planetary reducer 213, a first driving wheel 209, a conveyor belt 210, a third driving wheel 212, a wheel axle 202 and a Mecanum wheel 204; the output end of the synchronous motor 215 is provided with a planetary reducer 213, and the output end of the planetary reducer 213 is provided with a first driving wheel 209 through a flat key; the first driving wheel 209 is connected with a third driving wheel 212 through a conveying belt 210; the wheel shaft 202 is axially arranged on the third driving wheel 212; the wheel axle 202 mounts a Mecanum wheel 204. Because of the omni-directional movement of the Mecanum wheel 204, the Mecanum wheel 204 is mounted on the same side in opposite directions. With the Mecanum wheel 204, the running gear 2 is more flexible to move.
A fixed plate 216 is arranged on the output end of the planetary reducer 213; the fixing plate 216 is fixed on the cross beam of the frame 22; a second driving wheel 211 is arranged in the conveyor belt 210, and the middle of the conveyor belt 210 is tangential to the tread of the second driving wheel 211; an elongated bolt 208 is axially arranged on the second driving wheel 211; the extension bolt 208 is connected to a fixed plate 216.
One end of the wheel shaft 202 is provided with a wheel shaft fixing block 203, and the other end is provided with a first shaft sleeve 218; the wheel axle 202 is mounted on the cross beam of the frame 22 through an axle fixing block 203 and a first shaft sleeve 218; the Mecanum wheel 204 is mounted on the wheel axle 202 by a coupling 205 and a second hub 207; a washer 206 is arranged between the coupling 205 and the second sleeve 207.
When the synchronous motor 215 of the wheel device 21 works, the planetary reducer 213 reduces the rotation speed of the output shaft, the first driving wheel 209 connected with the planetary reducer 213 in a flat key manner starts to rotate, the conveyor belt 210 starts to work, the third driving wheel 212 synchronously rotates, the third driving wheel 212 drives the wheel shaft 202 to rotate, the rotation of the Mecanum wheel 204 is realized, and the frame 22 further stably runs along a given route.
As shown in fig. 4, the adjustable milling mechanism 1 comprises: a Y-axis ball screw 12, a Z-axis ball screw 13, a milling device 14, and two X-axis ball screws 11; two X-axis ball screws 11 are mounted on the frame 22; the two X-axis ball screws 11 are provided with Y-axis ball screws 12 in a sliding manner, and the Y-axis ball screws 12 are specifically arranged on sliding blocks of the X-axis ball screws 11; the Y-axis ball screw 12 is provided with a Z-axis ball screw 13 in a sliding manner, and the Z-axis ball screw 13 is specifically arranged on a sliding block of the Y-axis ball screw 12; the Z-axis ball screw 13 is provided with a milling device 14 in a sliding manner, and the milling device 14 is specifically arranged on a sliding block of the Z-axis ball screw 13.
The X-axis ball screw 11 is arranged on a frame 22 through a bearing fixing seat 16; the screw rods of the two X-axis ball screws 11 are connected through a conveyor belt 15, wherein the screw rod of one X-axis ball screw 11 is connected with an X-axis driving motor, and one motor drives the two X-axis ball screws 11 to synchronously work; the wire lever of the Y-axis ball screw 12 is connected with a Y-axis driving motor, and the Y-axis driving motor drives the Y-axis ball screw 12 to work; the screw lever of the Z-axis ball screw 13 is connected with a Z-axis driving motor, and the Z-axis driving motor drives the screw rod of the Z-axis ball screw 13 to work.
Specifically, the base of the X-axis ball screw 11 is made of a 20X80 aluminum alloy section bar and is fixedly connected with a frame 22 cross beam through bolts; the X-axis driving motor is fixed with the front cover plate of one X-axis ball screw 11 through a bolt, and the flat key is fixed with the screw shaft coupling to directly drive the ball screw; the conveyor belt 15 is connected with two X-axis ball screws 11 in a matching way; the sliding block of the X-axis ball screw 11 is fixed with the linear rail sliding block through a bolt; the screw connecting plate is fixed with a slide block of the X-axis ball screw 11 through a bolt, and the other end of the screw connecting plate is fixed with a base of the Y-axis ball screw 12; the slide block is fixed with a rear cover plate of the Y-axis ball screw 12 through bolts; the Y-axis driving motor is fixed with the coupler through a flat key to directly drive the Y-axis ball screw 12; the Z-axis ball screw 13 is fixed with a slide block of the Y-axis ball screw 13 through a bolt; the milling device 14 is fixed with the sliding block of the Z-axis ball screw 13 through bolts by the fixture body fixing seat 104.
As shown in fig. 5, the milling device 14 includes: milling cutter 101, fixture body circular plate 102, fixture body 103, fixture body fixing base 104 and milling motor 105; the fixture body fixing seat 104 is fixed with a sliding block of the Z-axis ball screw 13; a milling motor 105 is arranged on the fixture body fixing seat 104; the milling motor 105 is connected with the clamp body 103; a clamp body circular plate 102 is arranged at the lower end of the clamp body 103; the upper end of the milling cutter 101 passes through the circular plate 102 of the clamp body and is arranged in the clamp body 103, and the milling cutter 101 is connected with the output shaft of the milling motor 105.
In the milling device 14, the fixture body fixing seat 104 is mounted on the Z-axis ball screw 13, and the milling device 14 can realize X, Y, Z three-axis movement. The X-axis driving motor and the Y-axis driving motor work to drive the Z-axis ball screw 13 and the milling device 14 to move to working positions; when milling is needed, the Z-axis driving motor starts to work, the milling device 14 is adjusted to move up and down to be close to the allowance of the chute, and the Z-axis driving motor stops working; the milling motor 105 rotates to directly drive the milling cutter 101 to mill the allowance of the chute; after each milling, the milling motor 105 stops working; the Z-axis driving motor is switched to work, the milling device 14 is adjusted downwards, and the milling motor 105 is switched to work again to continue milling until the milling task is completed.
The sucker fixing mechanism 3 is arranged on the frame 22.
As shown in fig. 6, the suction cup fixing mechanism 3 includes: the vacuum generator comprises a fixed seat 37, an electric push rod 36, a push rod bearing column 34, a sucker connecting rod 33, a sucker 31 and a vacuum generator 32; the fixed seat 37 is arranged on the cross beam of the frame 22; two electric push rods 36 are fixed on the bottom surface of the fixed seat 37; the electric push rod 36 is connected with the push rod receiving column 34 in a matching way; suction cup connecting rods 33 are respectively arranged at two ends of the push rod bearing column 34; the top of the sucker connecting rod 33 is in sealing connection with the push rod bearing column 34, the sucker connecting rod 33 is hollow, and the bottom of the sucker connecting rod 33 is communicated with the sucker 31; the vacuum generator 32 is arranged on the sucker connecting rod 33, and the vacuum generator 32 is connected with an air hole 35 at the top of the sucker 31 through a pipeline. The vacuum generator 32 is operable to evacuate the suction cup 31.
After the sucker 31 contacts the surface of the high-speed railway vehicle body, the vacuum generator 32 starts to operate, the air in the sucker 31 is pumped out through the air pipeline to form pressure difference, the sucker 31 is adsorbed on the surface of the vehicle body, and the fixing effect of the vehicle frame 22 is realized when the device works; after the work is finished, in order to enable the sucker 31 to be separated from the high-speed railway body as soon as possible, the vacuum generator 32 blows compressed air into the sucker 31 to achieve the purpose of quickly breaking the pressure difference.
The chip cleaning and milling mechanism 4 is arranged at the front end of the frame 22 and/or the rear end of the frame 22; in particular at the front cross member of the frame 22 and/or at the rear cross member of the frame 22.
As shown in fig. 7, the chip removing cleaning mechanism 4 includes: a small centrifugal fan 41, a transmission shaft 42, a chip suction motor 44 and a motor fixing seat 43; the motor fixing seat 43 is fixed on the frame 22; the motor fixing seat 43 is provided with a chip suction motor 44; the small centrifugal fan 41 is connected with a chip suction motor 44 through a transmission shaft 42. The small centrifugal fan 41 is connected with the chip suction motor 44 through the transmission shaft 42, so that the small centrifugal fan 41 is driven to work, impurities and chips at the working position can be sucked away, and the chip milling on the surface of the high-speed railway body is cleaned under the motion state of the device, so that the device runs stably.
One or more of a monocular camera, an LED lamp and a laser range finder are arranged on the frame 22; the monocular camera and the LED lamp are respectively fixed at the front end and/or the rear end of the frame 22; the two laser rangefinders are respectively fixed on the frame 22, and are specifically respectively arranged on the middle two longitudinal beams; when the milling cutter works, the laser range finder measures the distance from the sliding groove allowance to the frame longitudinal beam in real time.
The monocular camera recognizes the position of the chute before the device starts to move, so that the device moves along the chute; the LED is a manual control switch, and when the working environment is darker, the monocular camera and the laser range finder cannot work normally, the LED lamp is used for lighting and supplementing light.
A control mechanism is also provided on the frame 22. As shown in fig. 8, the control mechanism includes: the singlechip and the crystal oscillator circuit; the single chip microcomputer is respectively connected with the synchronous motors 215 in a signal manner, and specifically four synchronous motors 215 (M1-M4 in FIG. 8) can be connected through motor driving plates. The crystal oscillator circuit is in signal connection with the singlechip. The power supply circuit is connected with a VDD interface in the singlechip, and a USB interface in the power supply circuit is connected with 5V power supply; the crystal oscillator circuit is connected with OSCIN and OSCOUT ports of the single product machine and provides clock signals; the reset circuit is connected with the RST port and generates a reset pulse to reset the system. The control mechanism can be externally connected with a control console.
In the invention, the control mechanism can control the motors and the vision devices of the devices; wherein, the driving control of each driver and relay is realized by adopting a singlechip, wherein, the rotation control of the Mecanum wheel 204 of the travelling mechanism 2 adopts a PID control algorithm, the travelling control adopts the way of changing the steering of the synchronous motor 215 by different keys on hardware, and then each driver and relay realize the driving control of each part of device motor. The Mecanum wheel 204 needs to realize omnibearing motion, so the Mecanum wheel 204 needs to be independently controlled, and four drivers are adopted to realize the control function.
The control method of the intelligent device for milling the aluminum alloy chute allowance of the high-speed railway body provided by any embodiment of the invention comprises the following steps:
step 1, moving a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed rail car body to a high-speed rail bottom plate, and starting the device; and identifying a chute baseline of the high-speed railway bottom plate by a monocular camera, and cleaning milling scraps on the high-speed railway bottom plate in front of the travelling device by a cleaning milling scraps mechanism 4.
Specifically, the device is moved to a high-speed railway bottom plate, a vision device is started, a single-eye camera is used for identifying a sliding groove baseline of the high-speed railway bottom plate, and preparation work is made for positioning of a subsequent travelling device; the small centrifugal fan 41 is started, and the chip sucking motor 44 is controlled by a driver to clean milling chips on a high-speed rail bottom plate in front of the travelling mechanism 2.
as shown in fig. 9, since the device adopts the mecanum wheel, the steering and walking of the walking mechanism 2 are controlled by the forward and reverse rotation of the four synchronous motors 215, the placement angles of the mecanum wheel are different, the left wheel synchronous motor 215 rotates forward, and the frame 22 can rotate in situ when the right wheel synchronous motor 215 rotates reversely, and a position type PID control algorithm is needed for controlling the rotation angle of the synchronous motor 215.
step 201, controlling the position deviation correction of the travelling mechanism 2 through a PID control algorithm: recording the rotation angle of the synchronous motor 215 at the initial position and the included angle between the travelling mechanism 2 and the chute datum line; setting a desired rotation angle of the running gear, sending a pulse signal by using a controller of the synchronous motor 215, enabling the synchronous motor 215 to start rotating, recording the included angle between the running gear 2 and a chute datum line after rotating, and feeding back the included angle through a sensor to enable the next pulse signal to be changed; repeating the above actions until the included angle is zero.
If the included angle between the initial position of the travelling mechanism 2 and the base line of the chute is theta
Assuming that the center rotation radius of the travelling mechanism 2 is r and the length of the vehicle body is d, the following is taken
The positional PID algorithm expression is:
E k ＝S v -X k
E k-1 ＝S v -X k-1
wherein S is v To synchronize the initial rotation angle of the motor 215, X k For the kth sensor feedback angle, T is the calculation period, T i Is an integral constant, T D Is a differential constant; when feeding back for the first time E 1 =θ; wherein before reaching the control standard, i.e. before the Mecanum wheel 204 is parallel to the chute datum line, T i The value is infinite, so that error is avoided.
The travel of the traveling mechanism 2 is controlled by setting different keys on hardware: frequent conversion of controlling forward rotation, reverse rotation and stop of the synchronous motor 215 through an algorithm is not easy to operate, different keys are arranged on hardware, and different rotation modes of the synchronous motor 215 are realized by pressing different keys each time: according to FIG. 10, a power supply circuit is connected with a VDD interface in the singlechip, and a USB interface in the power supply circuit is connected with 5V power supply; the crystal oscillator circuit is connected with OSCIN and OSCOUT ports of the single-product machine in the motor control principle schematic diagram of FIG. 10 to provide clock signals; the reset power is connected with the RST port, and generates a reset pulse to reset the system; because the straight line running of the running gear needs to be controlled, the left side two wheels are integrated when the keys are arranged, the right side two wheels are integrated, when the running gear 2 rotates to be parallel to the base line of the chute according to a control algorithm, P1.2 and P1.7 are pressed down, when the running gear 2 moves forward to the chute position, P1.4 and P1.9 are pressed down, and the motor stops rotating; due to the lead limitation of the three-phase ball screw, the synchronous motor 215 needs to be controlled to stop rotating and start a delay function, so that the frame 22 passes through the starting point of the chute, wherein the delay function adopts a driving module to call the delay function.
And 3, controlling the sucker fixing mechanism 3 to fix the device for intelligently milling the allowance of the aluminum alloy chute of the high-speed railway body.
When the running mechanism 2 stops rotating, the motor of the electric push rod 36 is controlled to start rotating, and the push rod part of the electric push rod 36 is pushed out to the maximum lead through the gear transmission of the electric push rod 36, so that the sucker 31 is completely contacted with the high-speed railway vehicle body; the singlechip I/O interface is connected to a motor driver of the vacuum generator 32, and the driver is connected with a motor of the vacuum generator 32; the singlechip sends a pulse through the I/O interface, so that the motor of the vacuum generator 32 starts to work, the gas in the suction disc 31 is sucked, the pressure difference is realized, and the intelligent device for milling the allowance of the aluminum alloy chute of the high-speed railway body is integrally fixed.
And 4, controlling the adjustable milling mechanism 1 to perform back chipping.
After the whole device is fixed, the sliding groove allowance is identified according to the monocular camera in the step 1, the result is fed back to the control console, and the control console converts the identification result into different byte data and sends the different byte data to the singlechip through the USB serial port line; the singlechip receives and analyzes the data and outputs signals through different I/O interfaces to control an X-axis driving motor, a Y-axis driving motor and a Z-axis driving motor of the adjustable milling mechanism 1 to position the milling cutter; when the positioning work is finished, the milling motor 105 is controlled to start working, the monocular camera and the laser range finder work synchronously, the residual height of the chute is detected in real time and fed back to the control console, and the back chipping work of the chute is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments is modified or some or all of the technical features are replaced equivalently, so that the essence of the corresponding technical scheme does not deviate from the scope of the technical scheme of the embodiments of the present invention.
Claims (10)
1. Device of high-speed railway automobile body aluminum alloy spout surplus is milled to intelligence, a serial communication port includes: the adjustable milling mechanism (1), the travelling mechanism (2), the sucker fixing mechanism (3) and the chip cleaning and milling mechanism (4);
the travelling mechanism (2) comprises: a frame (22) and four sets of wheel devices (21) mounted on the frame (22);
the adjustable milling mechanism (1) comprises: a Y-axis ball screw (12), a Z-axis ball screw (13), a milling device (14) and two X-axis ball screws (11);
two X-axis ball screws (11) are arranged on a frame (22); y-axis ball screws (12) are arranged on the two X-axis ball screws (11) in a sliding manner; a Z-axis ball screw (13) is arranged on the Y-axis ball screw (12) in a sliding manner; a milling device (14) is arranged on the Z-axis ball screw (13) in a sliding manner;
the sucker fixing mechanism (3) is arranged on the frame (22);
the chip cleaning and milling mechanism (4) is arranged at the front end of the frame (22) and/or the rear end of the frame (22);
the clearance milling bits mechanism (4) includes: a small centrifugal fan (41), a transmission shaft (42), a chip suction motor (44) and a motor fixing seat (43);
the motor fixing seat (43) is fixed on the frame (22); a chip suction motor (44) is arranged on the motor fixing seat (43); the small centrifugal fan (41) is connected with the chip suction motor (44) through a transmission shaft (42).
2. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 1, characterized in that the wheel device (21) comprises: a synchronous motor (215), a planetary reducer (213), a first driving wheel (209), a conveyor belt (210), a third driving wheel (212), a wheel shaft (202) and a Mecanum wheel (204);
the output end of the synchronous motor (215) is provided with a planetary reducer (213), and the output end of the planetary reducer (213) is provided with a first driving wheel (209);
the first driving wheel (209) is connected with a third driving wheel (212) through a conveying belt (210);
the wheel shaft (202) is axially arranged on the third driving wheel (212);
and a Mecanum wheel (204) is arranged on the wheel shaft (202).
3. The device for intelligently milling the aluminum alloy chute allowance of the high-speed railway vehicle body according to claim 2, wherein a fixed plate (216) is arranged on the output end of the planetary reducer (213); the fixing plate (216) is fixed on a cross beam of the frame (22);
a second driving wheel (211) is arranged in the conveyor belt (210);
an extension bolt (208) is axially arranged on the second driving wheel (211);
the extension bolt (208) is connected with the fixed plate (216).
4. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 3, wherein one end of the wheel shaft (202) is provided with a wheel shaft fixing block (203), and the other end is provided with a first shaft sleeve (218);
the wheel axle (202) is arranged on a cross beam of the frame (22) through an axle fixing block (203) and a first shaft sleeve (218);
the Mecanum wheel (204) is arranged on the wheel shaft (202) through a coupler (205) and a second shaft sleeve (207);
a gasket (206) is arranged between the coupler (205) and the second shaft sleeve (207).
5. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 1, wherein the X-axis ball screw (11) is mounted on a car frame (22) through a bearing fixing seat (16);
the screw rods of the two X-axis ball screws (11) are connected through a conveyor belt (15), and the screw rod of one X-axis ball screw (11) is connected with an X-axis driving motor;
the screw lever of the Y-axis ball screw (12) is connected with a Y-axis driving motor;
and a screw rod of the Z-axis ball screw (13) is connected with a Z-axis driving motor.
6. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 1, characterized in that the milling device (14) comprises: a milling cutter (101), a clamp body circular plate (102), a clamp body (103), a clamp body fixing seat (104) and a milling motor (105);
the fixture body fixing seat (104) is fixed with a sliding block of the Z-axis ball screw (13); a milling motor (105) is arranged on the fixture body fixing seat (104);
the milling motor (105) is connected with the clamp body (103); a clamp body circular plate (102) is arranged at the lower end of the clamp body (103);
the upper end of the milling cutter (101) penetrates through the clamp body circular plate (102) and is arranged in the clamp body (103), and the milling cutter (101) is connected with an output shaft of the milling motor (105).
7. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 1, wherein the sucker fixing mechanism (3) comprises: the vacuum device comprises a fixing seat (37), an electric push rod (36), a push rod bearing column (34), a sucker connecting rod (33), a sucker (31) and a vacuum generator (32);
the fixed seat (37) is arranged on a cross beam of the frame (22);
two electric push rods (36) are fixed on the bottom surface of the fixed seat (37);
the electric push rod (36) is connected with the push rod bearing column (34) in a matching way;
two ends of the push rod bearing column (34) are respectively provided with a sucker connecting rod (33);
the top of the sucker connecting rod (33) is connected with the push rod bearing column (34) in a sealing way, the inside of the sucker connecting rod (33) is hollow, and the bottom end of the sucker connecting rod (33) is communicated with the sucker (31);
the vacuum generator (32) is arranged on the sucker connecting rod (33), and the vacuum generator (32) is connected with an air hole (35) at the top of the sucker (31) through a pipeline.
8. The device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to claim 1, wherein one or more of a monocular camera, an LED lamp and a laser range finder are arranged on the car frame (22);
the monocular camera and the LED lamp are respectively fixed at the front end and/or the rear end of the frame (22); the two laser rangefinders are respectively fixed on the frame (22);
a control mechanism is also arranged on the frame (22);
the control mechanism includes: the singlechip and the crystal oscillator circuit; the single chip microcomputer is respectively connected with a synchronous motor (215) through signals;
the crystal oscillator circuit is in signal connection with the singlechip.
9. A control method of the device for intelligently milling the aluminum alloy runner allowance of the high-speed railway car body according to any one of claims 1 to 8, which is characterized by comprising the following processes:
step 1, moving a device for intelligently milling the allowance of an aluminum alloy chute of a high-speed rail car body to a high-speed rail bottom plate, and starting the device; identifying a chute baseline of the high-speed rail bottom plate through a monocular camera, and cleaning milling scraps on the high-speed rail bottom plate in front of the travelling device through a cleaning milling scraps mechanism (4);
step 2, a PID control algorithm is adopted to control the travelling mechanism (2) to travel to a position to be processed;
step 3, controlling a sucker fixing mechanism (3) to fix a device for intelligently milling the allowance of the aluminum alloy chute of the high-speed railway body;
and 4, controlling the adjustable milling mechanism (1) to perform back chipping.
10. The control method according to claim 9, characterized in that in step 2, it comprises the following process:
step 201, controlling the position deviation correction of the travelling mechanism (2) through a PID control algorithm: recording the rotation angle of a synchronous motor (215) at the initial position and the included angle between a travelling mechanism (2) and a chute datum line; setting an expected rotation angle of the running gear, utilizing a controller of the synchronous motor (215) to send a pulse signal, enabling the synchronous motor (215) to start rotating, recording an included angle between the running gear (2) and a chute datum line after rotating, and feeding back the included angle through a sensor to enable the next pulse signal to change; repeating the above actions until the included angle is zero;
wherein, if the included angle between the initial position of the travelling mechanism (2) and the base line of the chute is theta, the initial position of the travelling mechanism is
If the center rotation radius of the travelling mechanism (2) is r and the length of the vehicle body is d, the travelling mechanism is provided with a plurality of wheels
The positional PID algorithm expression is:
E k ＝S v -X k
E k-1 ＝S v -X k-1
wherein S is v For initial rotation angle of synchronous motor (215), X k For the kth timeThe feedback angle of the sensor, T is the calculation period, T i Is an integral constant, T D Is a differential constant; when feeding back for the first time E 1 =θ; wherein before the Mecanum wheel (204) is parallel to the chute datum line, T i The value is infinity;
step 202, the travelling mechanism (2) is controlled to travel, so that the travelling mechanism (2) forwards travels to the chute position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310364077.6A CN116372607A (en) | 2023-04-07 | 2023-04-07 | Intelligent device for milling allowance of aluminum alloy chute of high-speed railway body and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310364077.6A CN116372607A (en) | 2023-04-07 | 2023-04-07 | Intelligent device for milling allowance of aluminum alloy chute of high-speed railway body and control method thereof |
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| CN116372607A true CN116372607A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310364077.6A Pending CN116372607A (en) | 2023-04-07 | 2023-04-07 | Intelligent device for milling allowance of aluminum alloy chute of high-speed railway body and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116618730A (en) * | 2023-07-21 | 2023-08-22 | 成都工业职业技术学院 | Intelligent plate milling device and control method thereof |
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2023
- 2023-04-07 CN CN202310364077.6A patent/CN116372607A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116618730A (en) * | 2023-07-21 | 2023-08-22 | 成都工业职业技术学院 | Intelligent plate milling device and control method thereof |
| CN116618730B (en) * | 2023-07-21 | 2023-09-29 | 成都工业职业技术学院 | Intelligent plate milling device and control method thereof |
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