A kiss-off point cloud nesting cutting device and method thereof

Abstract

This invention discloses a point cloud nesting cutting device and method for a dead-end pipe, comprising two cutting robots and two tracks for each of the cutting robots to traverse; the two ends of the tracks are connected by a snap-fit ​​device to form a ring structure surrounding the material pipe; it also includes a handheld 3D scanning device for scanning the dead-end pipe, the cutting torch, and the tracks to generate point cloud data with spatial position information; and a first calculation module for calculating the cutting parameters of the two pipes based on the point cloud data obtained by the handheld 3D scanning device. The advantages of this invention are: highly automated calculation process; low operational difficulty; and the addition of 3D scanning of the material pipe and tracks, enabling automatic deviation correction of the cutting robots.

Description

Technical Field

[0001] This invention relates to the field of machinery, and more particularly to a cutting device and method for cutting cloud-shaped materials at a dead-end point. Background Technology

[0002] In the field of pipeline maintenance and emergency repair, the need to replace faulty pipelines is frequently encountered. The general procedure is as follows: first, the faulty pipeline is cut and removed; then, a new section of pipeline is installed; and finally, welding is performed. However, after the faulty pipeline is cut and removed, the underground pipeline is often subjected to underground stress, causing the two cut pipe ends to shift, resulting in misalignment. If the newly installed pipeline is cut in a coaxial manner, proper alignment cannot be achieved; this situation is also known as a pipe misalignment. Currently, the most common method for cutting misaligned pipelines is still manual measurement and subsequent adjustments, which is time-consuming and cannot guarantee the accuracy of the cut end face.

[0003] Patent CN200910195003 discloses a portable automatic pipe circumferential walking device and a pipe processing method, which uses a pipe-climbing robot to automatically circle around and cut the pipe. However, it is not suitable for cutting pipes with dead ends. Moreover, it requires two installations of the pipe-climbing robot and the cutting process, and manual re-measurement and positioning are required, which leads to a decrease in efficiency and accuracy. Furthermore, if the robot encounters weld seams or pits while walking on the pipe wall, it will cause bouncing, which will affect the cutting quality and accuracy.

[0004] Patent CN2021107787836 provides a new pipe pre-positioning cutting method and a new pipe pre-positioning cutting device. By installing two pipe cutters simultaneously for synchronous cutting and using two target positioning components to assist in the positioning of the pipe cutters, it can partially make up for the deficiencies in patent CN200910195003. However, it is not for the positioning of the cutting torch, and the problem of inaccurate positioning still exists. At the same time, the track and the material pipe are not ideal concentric cylinders, so there will also be deviations. This results in uneven spacing between the bevel of the finally cut material pipe and the pipe to be welded, thus affecting the welding quality. Summary of the Invention

[0005] The purpose of this invention is to provide a cutting device and method for cutting cloud-shaped materials at the contact point that solves the above-mentioned technical problems.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A dead-end point cloud nesting cutting device includes two cutting robots and two tracks for each of the cutting robots to walk on; the two ends of the tracks are connected by a snap-fit ​​device to form a ring structure around the material pipe; it also includes a handheld 3D scanning device to scan the dead-end pipe, the new material pipe, the cutting torch, and the tracks to generate point cloud data with spatial position information; a first calculation module to calculate the cutting parameters of the two pipes based on the point cloud data of the dead-end pipe obtained by the handheld 3D scanning device; a second calculation module to calculate the walking, correction, and cutting torch support movement control information of the cutting robots based on the pipe cutting parameters and the point cloud data of the new material pipe, the cutting torch, and the tracks obtained by the handheld 3D scanning device; and a control module to control the operation of the sprocket motor and the cutting torch motor based on the control information.

[0008] Preferably, the cutting robot includes a plurality of wheels that travel on the track, an annular chain that confines the cutting robot on the track, a driving sprocket and a driven sprocket that mesh with the annular chain, a sprocket motor that drives the driving sprocket to rotate, a cantilever that extends axially along the pipe to be cut, a torch support that can move along the cantilever and is used to mount a cutting torch, and a torch motor that drives the torch support to move along the cantilever; the wheels include an inner wheel that travels on the track surface and an outer wheel that abuts against the side wall of the track, the radius of the outer wheel being larger than the radius of the inner wheel and the difference between the two being less than the thickness of the track.

[0009] Preferably, the cutting robot further includes a tension spring that drives the driven sprocket to move outward to tension the annular chain.

[0010] Preferably, a lead screw is rotatably provided on the cantilever along its length direction, the torch motor drives the lead screw to rotate through a reduction gear set, the torch support includes a slider, a threaded hole is provided on the slider, the lead screw is threadedly connected to the threaded hole, a clamp and a fastening bolt for fixing the clamp are rotatably provided on the slider, and the torch is detachably mounted on the clamp.

[0011] Preferably, it also includes a mobile cabinet, which includes a cabinet body with casters underneath. Each of the two opposite sides of the cabinet body has a storage compartment for storing the cutting robot and the handheld 3D scanning device, respectively. The cabinet body also has two drawer-type track drawers for storing the track. The cabinet body contains a control host connected to the cutting robot, which includes a data interface for receiving pipe cutting parameters.

[0012] Preferably, the handheld 3D scanning device is connected to the laptop computer to collect data and calculate the pipe cutting parameters.

[0013] Preferably, the cabinet is equipped with a power supply battery or an external mains power supply.

[0014] This invention also provides a method for cutting point cloud nesting materials with a dead-end edge, which utilizes the aforementioned point cloud nesting material cutting equipment and includes the following steps:

[0015] S1. Use a handheld 3D scanning device to scan the positions of the two pipe openings of the dead-end pipe multiple times to obtain point cloud data of the two pipe openings, which contains spatial location information;

[0016] S2. Process the point cloud data obtained in S1, establish point cloud models of the two pipe openings, and obtain the 3D position information of the edges of the two pipe openings. Then calculate the length of the material pipe connecting the two pipe openings and the end face information of both ends. Use the calculated end face information of the two ends of the material pipe as the cutting parameters of the two pipes.

[0017] S3. Install the two rails onto the material pipe, and connect the two rails end to end with a snap-fit ​​device;

[0018] S4. Use a handheld 3D scanning device to scan the tube and track to obtain point cloud data of the outer surface of the tube and the track. Calculate the axial direction of the tube based on the point cloud data of the outer surface of the tube, and calculate the edge of the track based on the point cloud data of the track.

[0019] S5. Install two cutting robots onto one of the tracks, so that their wheels are stuck on the edge of the track, and limit the cutting robots on the track by a ring chain. Then fix the cutting torch on the cutting torch bracket, and adjust the angle of the cutting torch and the height of the cutting torch according to the preset bevel angle.

[0020] S6. Use a handheld 3D scanning device to scan the two cutting torches to obtain point cloud data of the cutting torches;

[0021] S7. Use the two pipe cutting parameters in S2 as the original cutting parameters for the two cutting robots respectively; correct the original cutting parameters based on the point cloud data of the outer surface of the pipe, the track and the torch to obtain the final cutting parameters;

[0022] S8. Input the final cutting parameters. The cutting robot first corrects the axial position of the tube so that the distance between the two cutting robots meets the requirement of the total length of the tube after cutting.

[0023] S9. Open the preheating valve of the cutting torch to preheat the cutting position of the material tube; when the preheating reaches the set temperature, open the cutting valve of the cutting torch to start cutting;

[0024] S10. The two cutting robots walk along the track until they have completed a full circle, thus completing the cutting of the material tube; during the movement of the cutting robots, the position of the torch support on the cantilever is adjusted according to the final cutting parameters.

[0025] Preferably, in step S7, the axial direction of the tube is calculated based on the point cloud data of the outer surface of the tube. When calculating the final cutting parameters, this axial direction is aligned with the line connecting the center points of the two tube openings in the point cloud data of the two tube openings.

[0026] In step S7, the deviation of the track edge in the direction of the material tube axis is calculated based on the point cloud data of the track, so as to compensate for it when calculating the final cutting parameters;

[0027] In step S7, the axial direction of the cutting nozzle is calculated based on the point cloud data of the cutting torch, so as to compensate when calculating the final cutting parameters and ensure that the length of the cutting tube can be consistent with the axial length in the original cutting parameters.

[0028] Preferably, in step S8, one cutting robot is pre-selected as the master robot and the other as the slave robot. When correcting the axial position, the position of the master robot is not adjusted, only the position of the slave robot is adjusted.

[0029] The beneficial effects of this invention are:

[0030] The calculation process is highly automated: point cloud data can be imported, the calculation module uses various algorithms to perform parameter calculations, and the output result is the final result, without any intermediate intervention;

[0031] The calculation results are the cutting parameters. The cutting robot cuts according to the parameters, which can achieve automated cutting without G-code or programming and is easy to operate.

[0032] The addition of 3D scanning of the material pipe and track allows for the determination of the positional relationship between the track and the pipe, and the calculation of track edge data. The deviation of the track edge can be used for real-time compensation during the cutting process, thus achieving automatic deviation correction for the cutting robot.

[0033] Using two sets of cutting robots simultaneously improves the efficiency of installation, measurement, and cutting.

[0034] By performing 3D scanning on the cutting robot's torches to obtain the positional relationship between the two torches, the adjustment amount between the torches along the pipe axis can be directly calculated using this relationship. This ensures that the pipe length for cutting and unloading matches the theoretical value, eliminating the need for manual measurement of the axial distance. Furthermore, this direct torch scanning positioning method avoids the need for any other scanning calibration objects, preventing the influence of installation deviations between internal structures of the cutting robot on the measurement results.

[0035] All equipment can be stored together in mobile cabinets, making it convenient for storage, relocation, and field operations. Attached Figure Description

[0036] Figure 1 This is an installation diagram of the dead-end pipe and the material pipe;

[0037] Figure 2 This is a structural schematic diagram of the present invention in use;

[0038] Figure 3 This is a partial structural diagram of the cutting robot in use;

[0039] Figure 4 This is a structural diagram of the mobile cabinet;

[0040] Figure 5 This is a structural diagram of the latching device;

[0041] Figure 6 This is a side view of the chuck;

[0042] Figure 7 This is a 3D structural diagram of the cutting robot. Detailed Implementation

[0043] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0044] In the description of this invention, it should be noted that the terms "inner", "outer", "upper", "lower", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0045] like Figures 1 to 7 As shown, the present invention provides a point cloud nesting cutting device for dead-end cutting, comprising two cutting robots 10, two tracks 12 for each cutting robot 10 to move along, a handheld 3D scanning device (not shown), and a control host (not shown). The handheld 3D scanning device adopts an industry-mature device with spatial position information, which can move and scan multiple objects or parts in the same coordinate system, and finally combine the scan results together. Alternatively, two scanning points can be pre-set, a large coordinate system covering the two scanning points can be created first, one scanning point scans one object, and then the scan results of the two scanning points can be summarized in the large coordinate system to obtain the above result.

[0046] The two ends of track 12 are connected by a snap-fit ​​device to form a ring structure surrounding the material tube 38. The snap-fit ​​device is as follows: Figure 5 and Figure 6As shown, it includes four claws 14. The claws 14 are locked in the preset through holes on the track 12 by limiting pins 16. The claws 14 are pivotally connected in pairs by connecting rods 18. The two connecting rods 18 are connected by screws 20. The distance between the connecting rods 18 can be adjusted by adjusting the nuts on the screws 20, thereby connecting the two ends of the track 12 and tensioning it.

[0047] The cutting robot 10 includes four wheels 22 that travel on a track 12, an annular chain 24 that confines the cutting robot 10 to the track 12, a drive sprocket 26 and a driven sprocket 28 that mesh with the annular chain 24, a sprocket motor 30 that drives the drive sprocket 26 to rotate, a cantilever 32 that extends axially along the pipe to be cut, a torch support 34 that can move along the cantilever 32 and is used to mount a cutting torch 44, and a torch motor 36 that drives the torch support 34 to move along the cantilever 32. Each wheel 22 includes an inner wheel 221 that travels on the surface of the track 12 and an outer wheel 222 that abuts against the side wall of the track 12. The radius of the outer wheel 222 is larger than the radius of the inner wheel 221, and the difference between the two is less than the thickness of the track 12. This prevents the wheels 22 from directly contacting the outer wall of the pipe 38, avoiding the cutting robot 10 from jumping due to welds, pits, or other structures on the outer wall, which would affect the cutting quality. The cutting robot 10 also includes a tension spring 38 that drives the driven sprocket 28 to move outward to tension the annular chain 24; and a rotary handle 40 for adjusting the elasticity of the tension spring 38. In operation, the cutting robot 10 is placed on the feed pipe 38, the wheels 22 are engaged at the edge of the track 12, the chain passes through the driving sprocket 26 and the driven sprocket 28, and is connected end-to-end to form the annular chain 24. The rotary handle 40 adjusts the position of the driven sprocket 28, thus tensioning the annular chain 24. The tension spring 38 provides elasticity to ensure the annular chain 24 remains continuously tensioned.

[0048] A lead screw 42 is rotatably mounted along the length of the cantilever 32. The torch motor 36 drives the lead screw 42 to rotate via a reduction gear set. The torch support 34 includes a slider with a threaded hole. The lead screw 42 is threadedly connected to the threaded hole. A clamp and a fastening bolt for fixing the clamp are rotatably mounted on the slider. The torch 44 is detachably mounted on the clamp. The clamp and fastening bolt are common structures in the industry and are therefore not shown in detail. The clamp can be rotated to adjust the angle of the torch 44, and after adjustment, it is fixed with the fastening bolt.

[0049] It also includes a handheld 3D scanning device that scans the dead-end pipe 46, the cutting torch 44, and the track 12 to generate point cloud data with spatial position information; a first calculation module that calculates the cutting parameters of the two pipes based on the point cloud data of the dead-end pipe 46 obtained by the handheld 3D scanning device; a second calculation module that calculates the control information for the movement of the cutting robot 10 and the movement of the cutting torch support 34 based on the pipe cutting parameters and the point cloud data of the cutting torch 44 and the track 12 obtained by the handheld 3D scanning device; and a control module that controls the sprocket motor 30 and the operation of the sprocket motor 30 based on the control information.

[0050] It also includes a mobile cabinet 50 to improve integration, facilitate the storage and movement of all equipment, and improve utilization efficiency. The mobile cabinet 50 includes a cabinet body with casters 52 at the bottom. On each of the two opposite sides of the cabinet body, there are storage compartments 54 for storing the cutting robot 10 and the handheld 3D scanning equipment, respectively. The cabinet body also has two drawer-type track drawers 56 for storing the track 12. The cabinet body contains a control host connected to the cutting robot 10. The control host includes a data interface for receiving pipe cutting parameters.

[0051] The handheld 3D scanning device connects to a laptop for data acquisition and to calculate pipe cutting parameters. Using a laptop offers better portability; it can be moved with the handheld 3D scanner to the desired scanning location. The calculated pipe cutting parameters can be transferred to the control host via USB flash drive or Bluetooth. Specifically, the laptop connects to the handheld 3D scanner via a data cable, allowing it to move freely with the scanner, receive scan data, and perform point cloud calculations using its built-in software. The calculation results can be transferred to the control host via USB flash drive, wired, or wireless methods. Before scanning, several targets can be pre-set on the structure to be scanned to improve scanning accuracy.

[0052] Furthermore, a power supply battery (not shown) can be installed inside the cabinet to adapt to field operations.

[0053] This invention also provides a method for cutting dead-end point cloud nesting materials, which utilizes a dead-end point cloud nesting material cutting device and includes the following steps:

[0054] S1. Use a handheld 3D scanning device to scan the positions of the two pipe openings of the dead-end pipe 46 to obtain point cloud data of the two pipe openings, which contains spatial location information;

[0055] S2. Process the point cloud data obtained in S1, establish point cloud models of the two pipe openings, and obtain the 3D position information of the edges of the two pipe openings. Then calculate the length of the material pipe 38 connecting the two pipe openings and the end face information of both ends. Use the end face information of the two ends of the material pipe 38 obtained by calculation as the cutting parameters of the two pipes.

[0056] S3. Install the two rails 12 onto the material pipe 38, and connect the two rails 12 end to end through a snap-fit ​​device;

[0057] S4. Use a handheld 3D scanning device to scan the tube 38 and the track 12 to obtain point cloud data of the outer surface of the tube 38 and the track 12. Calculate the axial direction of the tube 38 based on the point cloud data of the outer surface of the tube 38, and calculate the edge of the track 12 based on the point cloud data of the track 12.

[0058] S5. Install two cutting robots 10 onto a track 12, ensuring their wheels 22 are engaged with the edge of the track 12. Secure the cutting robots 10 to the track 12 using a ring chain 24. Then, fix the cutting torch 44 to the torch support 34. Adjust the angle and height of the torch 44 according to the preset bevel angle. The ring chain 24 has hinges for end-to-end connection. The two cutting robots 10 can be positioned on the track 12 in the following ways as needed:

[0059] 1) The cantilever 32 of the two cutting robots 10 are oriented in the same direction, either to the left or to the right;

[0060] 2) The cantilever 32 of both cutting robots 10 faces inward;

[0061] 3) The cantilever 32 of both cutting robots 10 faces outward.

[0062] S6. Use a handheld 3D scanning device to scan the two cutting torches 44 to obtain point cloud data of the cutting torches 44;

[0063] S7. The two pipe cutting parameters in S2 are used as the original cutting parameters of the two cutting robots 10 respectively; the original cutting parameters are corrected based on the point cloud data of the outer surface of the material pipe 38, the track 12 and the cutting torch 44 to obtain the final cutting parameters.

[0064] S8. Input the final cutting parameters. The cutting robot 10 first corrects the axial position of the tube 38 so that the distance between the two cutting robots 10 meets the requirement of the total length of the tube 38 after cutting.

[0065] S9. Open the preheating valve of the cutting torch 44 to preheat the cutting position of the material tube 38; when the preheating reaches the set temperature, open the cutting valve of the cutting torch 44 to perform cutting;

[0066] S10. The cutting robot 10 walks along the track 12 until it completes a full circle, thus completing the cutting of the material tube 38. During the walking process, the position of the torch support 34 on the cantilever 32 is adjusted according to the final cutting parameters.

[0067] In step S7, the axial direction of the tube 38 is calculated based on the point cloud data of the outer surface of the tube 38. When calculating the final cutting parameters, the axial direction is aligned with the line connecting the center points of the two tube openings in the point cloud data of the two tube openings.

[0068] In step S7, the deviation of the edge of track 12 in the direction of the axis of material tube 38 is calculated based on the point cloud data of track 12, so as to compensate for it when calculating the final cutting parameters.

[0069] In step S7, the axial direction of the cutting nozzle is calculated based on the point cloud data of the cutting torch 44, so as to compensate when calculating the final cutting parameters and ensure that the length of the cutting tube 38 is consistent with the axial length in the original cutting parameters.

[0070] In step S8, one cutting robot 10 is pre-selected as the master robot and the other as the slave robot. When correcting the axial position, the position of the master robot is not adjusted, only the position of the slave robot is adjusted.

[0071] Through the above steps, the present invention can cut bevels at both ends of the material pipe 38 that are consistent with the shape of the two pipe openings of the dead-end pipe 46, and ensure that the axial length of the material pipe 38 meets the requirements. This ensures that when the cut material pipe 38 is installed between the dead-end pipes 46, the spacing of the weld joints on both sides is uniform, and no subsequent adjustment is required, thereby greatly improving the welding efficiency and quality.

[0072] This invention directly determines cutting parameters by performing 3D scanning of the cutting torch and using its point cloud data. This direct positioning eliminates the need for calculations and conversions, resulting in more precise positioning. By scanning the point cloud data of the material tube 38, the axial direction of the material tube 38 is determined, ensuring consistency with the axial direction of the cutting parameters obtained based on the point cloud data of the two openings of the dead-end pipe 46, thereby further ensuring cutting accuracy. By scanning the point cloud data of the two openings of the dead-end pipe 46, compensation can be performed along the axial direction of the material tube 38, ensuring that the cut material tube 38 matches the two openings of the dead-end pipe 46, thus ensuring consistent spacing between the material tube 38 and the two openings of the dead-end pipe 46, thereby improving welding quality.

[0073] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for cutting point cloud nesting material with a dead-end edge, characterized by utilizing a point cloud nesting material cutting device with a dead-end edge edge, wherein... The dead-end point cloud nesting cutting equipment includes: two cutting robots and two tracks for each of the cutting robots to walk on; the two ends of the tracks are connected by a snap-fit ​​device to form a ring structure around the material pipe; it also includes a handheld 3D scanning device to scan the dead-end pipe, the new material pipe, the cutting torch, and the tracks to generate point cloud data with spatial position information; a first calculation module to calculate the cutting parameters of the two pipes based on the point cloud data of the dead-end pipe obtained by the handheld 3D scanning device; a second calculation module to calculate the walking, correction, and cutting torch support movement control information of the cutting robots based on the pipe cutting parameters and the point cloud data of the new material pipe, the cutting torch, and the tracks obtained by the handheld 3D scanning device; and a control module to control the operation of the sprocket motor and the cutting torch motor based on the control information. The cutting robot includes several wheels that travel on the track, an annular chain that confines the cutting robot on the track, a driving sprocket and a driven sprocket that mesh with the annular chain, a sprocket motor that drives the driving sprocket to rotate, a cantilever that extends axially along the pipe to be cut, a torch support that can move along the cantilever and is used to mount a cutting torch, and a torch motor that drives the torch support to move along the cantilever; each wheel includes an inner wheel that travels on the surface of the track and an outer wheel that abuts against the side wall of the track, the radius of the outer wheel is larger than the radius of the inner wheel and the difference between the two is smaller than the thickness of the track, so that the wheel does not directly contact the outer wall of the pipe; Includes the following steps: S1. Use a handheld 3D scanning device to scan the positions of the two pipe openings of the dead-end pipe multiple times to obtain point cloud data of the two pipe openings, which contains spatial location information; S2. Process the point cloud data obtained in S1, establish point cloud models of the two pipe openings, and obtain the 3D position information of the edges of the two pipe openings. Then calculate the length of the material pipe connecting the two pipe openings and the end face information of both ends. Use the calculated end face information of the two ends of the material pipe as the cutting parameters of the two pipes. S3. Install the two rails onto the material pipe, and connect the two rails end to end with a snap-fit ​​device; S4. Use a handheld 3D scanning device to scan the tube and track to obtain point cloud data of the outer surface of the tube and the track. Calculate the axial direction of the tube based on the point cloud data of the outer surface of the tube, and calculate the edge of the track based on the point cloud data of the track. S5. Install two cutting robots onto one of the tracks, so that their wheels are stuck on the edge of the track, and limit the cutting robots on the track by a ring chain. Then fix the cutting torch on the cutting torch bracket, and adjust the angle of the cutting torch and the height of the cutting torch according to the preset bevel angle. S6. Use a handheld 3D scanning device to scan the two cutting torches to obtain point cloud data of the cutting torches; S7. Use the two pipe cutting parameters from S2 as the original cutting parameters for the two cutting robots; correct the original cutting parameters based on the point cloud data of the outer surface of the pipe, the track, and the torch to obtain the final cutting parameters; S8. Input the final cutting parameters. The cutting robot first corrects the axial position of the tube so that the distance between the two cutting robots meets the requirement of the total length of the tube after cutting. S9. Open the preheating valve of the cutting torch to preheat the cutting position of the material tube; when the preheating reaches the set temperature, open the cutting valve of the cutting torch to start cutting; S10. The two cutting robots walk along the track until they have completed a full circle, thus completing the cutting of the material tube; during the movement of the cutting robots, the position of the torch support on the cantilever is adjusted according to the final cutting parameters. In step S7, the axial direction of the tube is calculated based on the point cloud data of the outer surface of the tube. When calculating the final cutting parameters, the axial direction is aligned with the line connecting the center points of the two tube openings in the point cloud data of the two tube openings. In step S7, the deviation of the track edge in the direction of the material tube axis is calculated based on the point cloud data of the track, so as to compensate for it when calculating the final cutting parameters; In step S7, the axial direction of the cutting nozzle is calculated based on the point cloud data of the cutting torch, so as to compensate when calculating the final cutting parameters and ensure that the length of the cutting tube can be consistent with the axial length in the original cutting parameters.

2. The method for cutting point cloud nesting material according to claim 1, characterized in that, The cutting robot also includes a tension spring that drives the driven sprocket to move outward to tension the annular chain.

3. The method for cutting point cloud nesting material according to claim 1, characterized in that, A lead screw is rotatably mounted on the cantilever along its length. The torch motor drives the lead screw to rotate via a reduction gear set. The torch support includes a slider with a threaded hole. The lead screw is threadedly connected to the threaded hole. A clamp and a fastening bolt for fixing the clamp are rotatably mounted on the slider. The torch is detachably mounted on the clamp.

4. The method for cutting point cloud nesting material according to claim 1, characterized in that, It also includes a mobile cabinet, which includes a cabinet body with casters underneath. On each of the two opposite sides of the cabinet body, there is a storage compartment for storing the cutting robot and the handheld 3D scanning device, respectively. The cabinet body also has two drawer-type track drawers for storing the track. Inside the cabinet body, there is a control host connected to the cutting robot, which includes a data interface for receiving pipe cutting parameters.

5. The method for cutting point cloud nesting material according to claim 1, characterized in that, The handheld 3D scanning device is connected to a laptop computer to collect data and calculate the pipe cutting parameters.

6. The method for cutting point cloud nesting material according to claim 4, characterized in that, The cabinet is equipped with a power supply battery or an external mains power source.

7. The method for cutting point cloud nesting material according to claim 1, characterized in that, In step S8, one cutting robot is pre-selected as the master robot and the other as the slave robot. When correcting the axial position, the position of the master robot is not adjusted, only the position of the slave robot is adjusted.

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