Clamping device, laser processing equipment and laser drilling method

Abstract

The invention discloses a clamping device, laser machining equipment and a laser drilling method.The clamping device is used for clamping an annular workpiece and comprises mounting bases, a clamping belt, a driving wheel and a first telescopic mechanism, and the mounting bases are symmetrically arranged on the two sides of a clamping position of the workpiece; at least two rotating mechanisms used for being connected with the first ends of the first telescopic mechanisms are arranged on the side, close to the workpiece clamping position, of the mounting base, the second ends of the first telescopic mechanisms and the driving wheels are used for being supported on the inner surface of the clamping belt so as to tension the clamping belt, and the outer surface of the clamping belt is used for being tightly attached to and supported on the outer wall of the annular workpiece. The first telescopic mechanism is used for telescopically adjusting the distance between the clamping belt and a workpiece at the clamping position and / or adjusting the tension degree of the clamping belt; the rotating mechanism is used for driving the first telescopic mechanism to swing so as to adjust the position of the second end of the first telescopic mechanism; the driving wheel is used for driving the clamping belt to rotate when the clamping belt is matched with the workpiece so as to drive the workpiece to move.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft engine parts processing, and in particular, to a clamping device. In addition, the present invention also relates to a laser processing device and a laser drilling method including the clamping device. Background Art

[0002] Laser processing is widely used in aero-engine processing due to its high efficiency, high precision, small heat-affected zone and low cost. Through the research and application of laser drilling equipment, it is found that although the laser processing equipment itself has high mechanical precision, the sheet metal and welded parts processed in practice are seriously deformed. When the angle between the drilling direction and the wall is small, the surface deformation is large, and the theoretical focus position of the laser deviates greatly from the actual workpiece position, making the laser focus position unstable.

[0003] like Figure 1 As shown in the figure, a common annular workpiece in aircraft engines, the solid line is the theoretical model, and the dotted line is the actual workpiece. According to the theoretical design requirements, a laser hole is drilled at the position (X1, Z1) with a very small angle with the wall (in the direction of the solid arrow). However, due to the deformation of the actual workpiece and the linear propagation of the light beam, the laser beam will drill a hole at the Z2 position of the actual workpiece surface, that is, (X2, Z2), instead of the original (X1, Z1). At this time, the position deviation of the drilling will be related to the deformation of the workpiece and the angle with the wall. In addition, the laser head will not move during drilling, and the distance between the laser focus position and the actual workpiece processing surface will also change with the deformation and the angle.

[0004] On the other hand, the installation and alignment time during laser processing is long, which affects the processing efficiency. The workpiece needs to be transported to the laser drilling equipment for clamping, alignment and processing, which requires the cooperation of multiple machines. The equipment-related structure is complex and the operation is cumbersome, requiring manual intervention and low processing efficiency. Summary of the Invention

[0005] The present invention provides a clamping device, laser processing equipment and a laser drilling method to solve the technical problems in the prior art of complex structure and complicated operation of the clamping and conveying device of the annular workpiece processing equipment.

[0006] According to one aspect of the present invention, a clamping device is provided for clamping an annular workpiece, comprising a mounting seat, a clamping belt, a driving wheel and a first telescopic mechanism, the mounting seats being symmetrically distributed on both sides of the clamping position of the workpiece, and at least two rotating mechanisms for connecting to the first end of the first telescopic mechanism are provided on the side of the mounting seat close to the workpiece clamping position, the second end of each of the first telescopic mechanisms and the driving wheel are used to respectively support the inner surface of the clamping belt to tension the clamping belt, and the outer surface of the clamping belt is used to tightly support the outer wall of the annular workpiece; the first telescopic mechanism is used to telescopically adjust the distance between the clamping belt and the workpiece at the clamping position and / or adjust the tension of the clamping belt; the rotating mechanism is used to drive the first telescopic mechanism to swing and thereby adjust the position of the second end of the first telescopic mechanism; the driving wheel is used to drive the clamping belt to rotate when the clamping belt cooperates with the workpiece and thereby drive the workpiece to move.

[0007] As a further improvement of the above technical solution, a pulley is provided at the second end of the first telescopic mechanism, and limiting grooves are provided on the outer wall surfaces of the driving wheel and the pulley respectively, and a limiting protrusion is protruded on the inner surface of the clamping belt for cooperating with the limiting groove.

[0008] As a further improvement of the above technical solution, a support protrusion is radially provided on the lower edge of the outer surface of the clamping belt, and the upper surface of the support protrusion is used to cooperate with the workpiece to assist in supporting the workpiece.

[0009] As a further improvement of the above technical solution, the clamping device also includes a second telescopic mechanism, the first end of the second telescopic mechanism is fixed to the mounting seat, the second end of the second telescopic mechanism is used to install the driving wheel, and the second telescopic mechanism is used to drive the driving wheel to move to adjust the tension of the clamping belt.

[0010] On the other hand, a laser processing device is also provided, which is applied with the clamping device. The laser processing equipment also includes a laser drilling robot, a turntable, a conveying device for conveying workpieces arranged on both sides of the turntable, and a laser ranging device located on one side of the turntable. The turntable is provided with a clamping mechanism for clamping the workpiece.

[0011] As a further improvement of the above technical solution, the surface of the turntable is provided with guide grooves in the radial direction, and a plurality of the guide grooves are evenly distributed along the circumference of the turntable. The clamping mechanism includes a third telescopic mechanism arranged in the turntable, and the third telescopic mechanism includes a telescopic rod arranged along the direction of the guide groove. A support rod is axially arranged on the telescopic rod, and the support rod extends from the surface of the turntable from the guide groove.

[0012] On the other hand, a laser drilling method is also provided, which is applied to the laser processing equipment, and the laser drilling method includes the following contents:

[0013] S1. The first and second telescopic mechanisms operate independently, and the rotating mechanism simultaneously drives the first telescopic mechanism to rotate backward to a preset angle, so that the clamping device is connected to the conveyor. The drive wheel rotates, driving the clamping belt. The workpiece is transferred from the conveyor to the clamping belt and moves with the clamping belt to the turntable position.

[0014] S2. The first telescopic mechanism and the second telescopic mechanism extend and simultaneously the rotating mechanism drives the first telescopic mechanism to swing toward the clamped workpiece;

[0015] S3. The workpiece is located above the turntable, the first telescopic mechanism is retracted, the workpiece is separated from the clamping device and falls onto the turntable, and the clamping mechanism of the turntable clamps the workpiece;

[0016] S4. Start the laser ranging device to obtain the current coordinate system of the workpiece;

[0017] S5. Resample the punching area of ​​the workpiece based on the set coordinate system, calculate the error value, and calculate the actual punching position based on the theoretical value and the error value;

[0018] S6. Start laser drilling and drill holes at the actual drilling position;

[0019] S7. Punching is completed.

[0020] As a further improvement of the above technical solution, step S5 includes:

[0021] S51. The laser ranging device uniformly samples the preset distance position L from the center of the coordinate system;

[0022] S52. Get the sampling distance Ln, where n represents the sampling point number starting from 0;

[0023] S53. Fit the center of the circle based on the least squares method.

[0024] As a further improvement of the above technical solution, step S53 includes:

[0025] Corresponding sampling points to Xn 2 +Yn 2 +DXn+EYn+F=εn, where εn is the error;

[0026] Based on minimizing the sum of squared errors Constructing a system of equations

[0027] Construct the least squares matrix to calculate AX=B, where Solve for X=(A T A)-1 (A T B), after D and E are obtained, the center of the circle is (a, b) = (-D / 2+Xp,-E / 2+Yp).

[0028] As a further improvement of the above technical solution, step S7 also includes: the clamping mechanism of the turntable retracts, the rotating mechanism drives the first telescopic mechanism to swing, and at the same time the first telescopic mechanism moves to connect the clamping belt with the conveying mechanism and cooperate with the workpiece, and the driving wheel drives the clamping belt to rotate and drive the workpiece to move toward the conveying device.

[0029] The present invention has the following beneficial effects:

[0030] The clamping device is provided with a clamping belt, a driving wheel and a first telescopic mechanism, wherein the ends of the two first telescopic mechanisms and the driving wheel jointly tension the clamping belt, and the two clamping belts are symmetrically distributed. The clamping belts on both sides clamp the annular workpiece, and the first telescopic mechanism can adjust the length and thereby adjust the position of the tensioned clamping belt, thereby adjusting the tension, adjusting the clamping force and adjusting the clamping position, so that the device can adapt to the clamping of annular workpieces of different sizes and adjust the clamping force. At the same time, the contact surface between the clamping belt and the annular workpiece is large, thereby avoiding deformation of the workpiece caused by clamping; the swing of the first telescopic mechanism is controlled by the rotating mechanism, thereby controlling the position of the tensioning point, and The tension and clamping position can be adjusted, and it can be connected with the conveying device of the processing equipment. The driving wheel can drive the clamping belt to rotate circumferentially. After clamping the workpiece at the end of the conveying device, it continues to be conveyed under the action of the clamping belts rotating on both sides of the annular workpiece, so that this device can not only clamp annular workpieces of various specifications, but also realize the transportation of annular workpieces. The workpiece does not need to be transferred by a robotic arm. The control logic is simple and clear, the overall structure of the device is simple, the contact surface for clamping the workpiece is large, and the effect on the deformation of the workpiece clamping is small, the difficulty of alignment is reduced, the punching quality is improved, and the automation expansion capability is greatly improved.

[0031] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 It is a schematic diagram of the laser focus error caused by theoretical and actual profiles;

[0034] Figure 2 This is a schematic diagram of a clamping state of a clamping device according to a preferred embodiment of the present invention;

[0035] Figure 3 This is a schematic structural diagram of the cooperation between the driving wheel and the clamping belt in a preferred embodiment of the present invention;

[0036] Figure 4 1 is a schematic structural diagram of a turntable according to a preferred embodiment of the present invention;

[0037] Figure 5 It is a structural schematic diagram of a laser processing device according to a preferred embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of a conveying state of a clamping device according to a preferred embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram of the automatic positioning principle of a preferred embodiment of the present invention;

[0040] Figure 8 Schematic diagram of hole position deviation compensation calculation in a preferred embodiment of the present invention.

[0041] Legend:

[0042] 1. Mounting seat; 2. Clamping belt; 21. Limiting protrusion; 22. Supporting protrusion; 3. Driving wheel; 4. First telescopic mechanism; 5. Rotating mechanism; 6. Pulley; 61. Limiting groove; 7. Second telescopic mechanism; 8. Turntable; 81. Guide groove; 82. Support rod; 83. Telescopic rod; 91. Laser ranging device; 92. Conveying device; 100. Workpiece. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0044] Figure 2 This is a schematic diagram of a clamping state of a clamping device according to a preferred embodiment of the present invention; Figure 3 This is a schematic structural diagram of the cooperation between the driving wheel and the clamping belt in a preferred embodiment of the present invention; Figure 4 1 is a schematic structural diagram of a turntable according to a preferred embodiment of the present invention; Figure 5 It is a structural schematic diagram of a laser processing device according to a preferred embodiment of the present invention; Figure 6 This is a schematic diagram of a conveying state of a clamping device according to a preferred embodiment of the present invention; Figure 7 This is a schematic diagram of the automatic positioning principle of a preferred embodiment of the present invention; Figure 8 Schematic diagram of hole position deviation compensation calculation in a preferred embodiment of the present invention.

[0045] like Figures 2 to 8As shown, the clamping device of this embodiment is used to clamp an annular workpiece 100, and includes a mounting seat 1, a clamping belt 2, a driving wheel 3 and a first telescopic mechanism 4. The mounting seat 1 is symmetrically distributed and arranged on both sides of the clamping position of the workpiece 100. At least two rotating mechanisms 5 for connecting to the first end of the first telescopic mechanism 4 are provided on the side of the mounting seat 1 close to the clamping position of the workpiece 100. The second end of each first telescopic mechanism 4 and the driving wheel 3 are used to support the inner surface of the clamping belt 2 to tension the clamping belt 2, and the outer surface of the clamping belt 2 is used to tightly support the outer wall of the annular workpiece 100; the first telescopic mechanism 4 is used to telescopically adjust the distance between the clamping belt 2 and the workpiece 100 at the clamping position and / or adjust the tension of the clamping belt 2; the rotating mechanism 5 is used to drive the first telescopic mechanism 4 to swing and thereby adjust the position of the second end of the first telescopic mechanism 4; the driving wheel 3 is used to drive the clamping belt 2 to rotate when the clamping belt 2 cooperates with the workpiece 100, thereby driving the workpiece 100 to move.

[0046] Among them, the first telescopic mechanism 4 is realized by an electric telescopic rod of the prior art; an electric control system is set on one side of the mounting base 1 and is electrically connected to the CNC center of the processing equipment;

[0047] It can be understood that the present clamping device is provided with a clamping belt 2, a driving wheel 3 and a first telescopic mechanism 4, and the ends of the two first telescopic mechanisms 4 and the driving wheel 3 jointly tension the clamping belt 2, and the two clamping belts 2 are symmetrically distributed, and the clamping belts 2 on both sides clamp the annular workpiece 100, and the first telescopic mechanism 4 can adjust the length of the tensioned clamping belt 2 and then adjust the tension, adjust the clamping force, and adjust the clamping position, so that the present device can adapt to the clamping of annular workpieces 100 of different sizes and adjust the clamping force. At the same time, the contact area between the clamping belt 2 and the annular workpiece 100 is large, which avoids deformation of the workpiece 100 caused by clamping; the swing of the first telescopic mechanism 4 is controlled by the rotating mechanism 5, thereby controlling the position of the tensioning point, and matching The tension and clamping position can be adjusted, and the device can be connected with the conveying device 92 of the processing equipment. The driving wheel 3 can drive the clamping belt 2 to rotate circumferentially. After clamping the workpiece 100 at the end of the conveying device 92, the workpiece 100 is continued to be conveyed under the action of the clamping belt 2 rotating on both sides of the annular workpiece 100, so that the device can not only clamp annular workpieces 100 of various specifications and has strong adaptability, but also realize the transportation of annular workpieces 100. The workpiece 100 does not need to be transferred by a robotic arm. The control logic is simple and clear, the overall structure of the device is simple, the contact surface for clamping the workpiece 100 is large, and the deformation of the clamping of the workpiece 100 is small, which reduces the difficulty of alignment, improves the quality of punching, and greatly improves the automation expansion capability.

[0048] In some embodiments, a pulley 6 is provided at the second end of the first telescopic mechanism 4, and a limiting groove 61 is provided on the outer wall surfaces of the driving wheel 3 and the pulley 6 respectively. A limiting protrusion 21 is protruded on the inner surface of the clamping belt 2 for cooperating with the limiting groove 61. The pulley 6 serves as a driven wheel. When the driving wheel 3 drives the clamping belt 2 to rotate circumferentially, the pulley 6 rotates synchronously with the clamping belt 2 to reduce friction; by further providing matching limiting grooves 61 and limiting protrusions 21 between the driving wheel 3, the pulley 6 and the clamping belt 2, the limiting protrusion 21 is embedded in the limiting groove 61 to prevent the clamping belt 2 from slipping due to external force, thereby ensuring working stability.

[0049] In some embodiments, a support protrusion 22 is radially provided on the lower edge of the outer surface of the clamping belt 2, and the upper surface of the support protrusion 22 is used to cooperate with the workpiece 100 to assist in supporting the workpiece 100. It can be understood that the present device can clamp the workpiece 100 and transport the workpiece 100. When the workpiece 100 is clamped by the clamping belt 2 for transfer, the support annular workpiece 100 at the lower edge of the clamping belt 2 is used to prevent the workpiece 100 from slipping due to gravity. Based on the design of the support protrusion 22, the clamping force required for the clamping belt 2 to clamp the workpiece 100 can be further reduced, and the clamping deformation of the workpiece 100 can be further avoided, the difficulty of alignment is reduced, and the punching accuracy and quality of subsequent processing are guaranteed; wherein, the support protrusion 22 can be formed by the radial extension of the lower edge of the outer surface of the clamping belt 2, or it can be set on the lower edge of the outer surface of the clamping belt 2 by pasting, clipping, hanging, etc.

[0050] In some embodiments, the clamping device further includes a second telescopic mechanism 7, a first end of the second telescopic mechanism 7 is fixed to the mounting seat 1, and a second end of the second telescopic mechanism 7 is used to mount the driving wheel 3, and the second telescopic mechanism 7 is used to drive the driving wheel 3 to move to adjust the tension of the clamping belt 2. By setting the second telescopic mechanism 7, the telescopic adjustment can be performed according to the telescopic amount and the swing position matching of the first telescopic mechanism 4, thereby adjusting the tension of the clamping belt 2. For example, when the clamping belt 2 needs to be connected to the conveying device 92 of the processing equipment, the first telescopic mechanism 4 needs to be swung and telescoped to a fixed position, and the second telescopic mechanism 7 is used to move the driving wheel 3 to adjust the tension of the clamping belt 2. The expansion and contraction adjusts the tension of the clamping belt 2, and then adjusts the clamping force of the workpiece 100, with strong adaptability; it should be understood that the tension at different positions and angles and the clamping force matching of the workpiece 100 are obtained through experiments and the corresponding data are recorded. When applied, the expansion and contraction amounts of the first and second telescopic mechanisms 4 and 7 can be matched according to the size of the workpiece 100 and the required clamping force; wherein, the second telescopic mechanism can be an elastic telescopic rod, which is adaptively matched and supported on the clamping belt, and automatically expands and contracts to maintain a constant clamping force; or it can be an electric telescopic rod, which adjusts the expansion and contraction amount according to the action matching of the first telescopic mechanism.

[0051] On the other hand, the present embodiment also provides a laser processing equipment, which is applied with the above-mentioned clamping device. The laser processing equipment also includes a laser drilling robot, a turntable 8, a conveying device 92 for conveying the workpiece 100 arranged on both sides of the turntable 8, and a laser ranging device 91 located on one side of the turntable 8. The turntable 8 is provided with a clamping mechanism for clamping the workpiece 100. It can be understood that the conveying device 92 includes a first conveying section located on one side of the turntable 8 and a second conveying section located on the other side of the turntable 8. The workpiece 100 is conveyed from the first conveying section to the turntable 8, and the clamping device 91 is provided on the turntable 8. The device can be connected to the first conveying section to receive the annular workpiece 100, clamp it and continue to convey it to the turntable 8. The workpiece 100 is released to the turntable 8 through the telescopic mechanism 4, and processed by the laser processing equipment. It is then clamped and conveyed by the clamping device and conveyed to the second conveying section. Among them, the laser ranging device 91 can measure the distance to the workpiece 100 without contact. The rotating turntable 8 further measures the distance between each circumferential position and the workpiece based on the laser ranging device 91, and performs precise calculation and alignment with high precision and without contacting the workpiece 100, thereby improving the punching accuracy and quality.

[0052] In some embodiments, the surface of the turntable 8 is provided with a guide groove 81 in the radial direction, and the plurality of guide grooves 81 are evenly distributed along the circumference of the turntable 8. The clamping mechanism includes a third telescopic mechanism provided in the turntable 8, and the third telescopic mechanism includes a telescopic rod 83 provided in the direction of the guide groove 81. A support rod 82 is provided axially on the telescopic rod 83, and the support rod 82 extends out of the surface of the turntable 8 from the guide groove 81. It should be understood that the telescopic action of the third telescopic mechanism causes each support rod 82 to move synchronously along the radial direction of the turntable 8, and the annular workpiece 100 is placed When the workpiece 100 is on the inner wall of the turntable 8, each support rod 82 moves radially outward synchronously under the control of the third telescopic mechanism to the inner wall of the annular workpiece 100, so that the workpiece 100 is clamped on the turntable 8. At the same time, the movement amount of each support rod 82 is the same, that is, it is located at the same radial length position, so that the workpiece 100 is concentric with the turntable 8 and preliminarily aligned; further, a plurality of mounting positions are set on the telescopic rod 83 of the third telescopic mechanism, so that the radial mounting position of the support rod 82 on the third telescopic mechanism can be adjusted, thereby adapting to the support of annular workpieces 100 of different sizes.

[0053] On the other hand, this embodiment also provides a laser drilling method, which is applied to the above-mentioned laser processing equipment. The laser drilling method includes the following contents:

[0054] S1. The first telescopic mechanism 4 and the second telescopic mechanism 7 are respectively actuated and the rotating mechanism 5 simultaneously drives the first telescopic mechanism 4 to rotate back to a preset angle, so that the clamping device is connected to the conveying device 92. The driving wheel 3 rotates to drive the clamping belt 2 to rotate. The workpiece 100 is transferred to the clamping belt 2 via the conveying device 92 and moves with the clamping belt 2 to the position of the turntable 8; Reference Figure 6The two first telescopic mechanisms 4 on the same side rotate in opposite directions and extend and retract according to the size of the workpiece 100 to connect the clamping belt 2 with the conveying device 92. The workpiece 100 is smoothly transferred to the clamping belt 2, and the driving wheel 3 drives the clamping belt 2 to rotate and transport the workpiece 100.

[0055] S2. The first and second telescopic mechanisms 4 and 7 extend, respectively, while the rotation mechanism 5 causes the first telescopic mechanism 4 to swing toward the clamped workpiece 100. Specifically, when the workpiece 100 is transferred to a position near the center of the turntable 8, the rotation mechanism 5 causes the first telescopic mechanism 4 to swing toward the workpiece 100 and extend, clamping the workpiece 100 and securing it near the center of the turntable 8.

[0056] S3. The workpiece 100 is positioned above the turntable 8. The first telescopic mechanism 4 contracts, and the workpiece 100 is released from the clamping device and falls onto the turntable 8. The clamping mechanism of the turntable 8 clamps the workpiece 100. The third telescopic mechanism of the turntable 8 extends so that the support rod 82 is supported on the inner wall of the workpiece 100, holding the workpiece 100 tight.

[0057] S4 start the laser ranging device 91, obtain the current coordinate system of the workpiece 100; turntable 8 rotates, the laser ranging device 91 uniformly samples, calculates the current coordinate system of the workpiece 100 and wears it to the CNC system of the processing equipment to set the zero point;

[0058] S5. Resample the punching position of the workpiece 100 based on the set coordinate system, calculate the error value, and calculate the actual punching position based on the theoretical value and the error value;

[0059] S6. Start laser drilling and drill holes at the actual drilling position to achieve adaptive processing;

[0060] S7. Punching is completed.

[0061] It can be understood that this laser drilling method clamps and transports the workpiece 100 through a clamping device, which can adapt to the clamping and transportation of workpieces 100 of various specifications, thereby improving the automation and scalability. The circumferential position of the workpiece 100 is sampled by the laser ranging device 91 and adaptive alignment, automatic alignment, and contactless alignment are achieved based on this, which is faster and more accurate than traditional probe contact alignment.

[0062] In some embodiments, step S5 includes:

[0063] S51. The laser ranging device uniformly samples the preset distance position L from the center of the coordinate system;

[0064] S52. Get the sampling distance Ln, where n represents the sampling point number starting from 0;

[0065] S53. Fit the center of the circle based on the least squares method.

[0066] By starting the laser distance measurement to uniformly sample the circumference of the annular workpiece, the distance length values ​​at different angles are obtained. The center coordinate value of the circle is calculated based on the angle and distance values. The center coordinate value is fed back to the CNC center to automatically align the coordinate center without manual operation, and the alignment efficiency is high;

[0067] Specifically, step S53 includes:

[0068] Corresponding sampling points to Xn 2 +Yn 2 +DXn+EYn+F=εn, where εn is the error;

[0069] Based on minimizing the sum of squared errors Constructing a system of equations

[0070] Construct the least squares matrix to calculate AX=B, where Solve for X=(A T A) -1 (A T B), after D and E are obtained, the center of the circle is (a, b) = (-D / 2+Xp,-E / 2+Yp).

[0071] Specifically, based on the measurement, we know that ΔL=ZL-(Z-OFF), and the two deviation values ​​ΔZ and ΔX are calculated as follows: The corrected punching coordinates are

[0072] Based on laser ranging automatic positioning and adaptive processing, it effectively solves the problems of large deformation and uneven deformation of sheet metal welding ring workpieces, difficulty in alignment, unstable drilling focus and poor drilling quality.

[0073] In some embodiments, step S7 also includes: the clamping mechanism of the turntable retracts, the rotating mechanism drives the first telescopic mechanism to swing, and at the same time the first telescopic mechanism moves to connect the clamping belt with the conveying mechanism and cooperate with the workpiece, and the driving wheel drives the clamping belt to rotate and drive the workpiece to move toward the conveying device; that is, the finished workpiece is output.

[0074] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limiting the present invention.

[0075] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0076] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A clamping device for clamping an annular workpiece (100), characterized in that: The invention comprises a mounting seat (1), a clamping belt (2), a driving wheel (3) and a first telescopic mechanism (4), wherein the mounting seat (1) is symmetrically distributed and arranged on both sides of a clamping position of a workpiece (100), and at least two rotating mechanisms (5) for connecting with the first end of the first telescopic mechanism (4) are arranged on one side of the mounting seat (1) close to the clamping position of the workpiece (100), and the second end of each of the first telescopic mechanisms (4) and the driving wheel (3) are used to respectively support the inner surface of the clamping belt (2) to tension the clamping belt (2), and the clamping belt (2) The outer surface of the clamping belt (2) is used for tightly supporting the outer wall of the annular workpiece (100); the first telescopic mechanism (4) is used for telescopically adjusting the distance between the clamping belt (2) and the workpiece (100) at the clamping position and / or adjusting the tension of the clamping belt (2); the rotating mechanism (5) is used for driving the first telescopic mechanism (4) to swing and thereby adjusting the position of the second end of the first telescopic mechanism (4); the driving wheel (3) is used for driving the clamping belt (2) to rotate when the clamping belt (2) is engaged with the workpiece (100) and thereby driving the workpiece (100) to move.

2. The clamping device according to claim 1, characterized in that A pulley (6) is provided at the second end of the first telescopic mechanism (4), and the outer wall surfaces of the driving wheel (3) and the pulley (6) are respectively provided with limiting grooves (61), and the inner surface of the clamping belt (2) is protruded to form a limiting protrusion (21) for cooperating with the limiting groove (61).

3. The clamping device according to claim 1, characterized in that A support protrusion (22) is radially provided on the lower edge of the outer surface of the clamping belt (2), and the upper surface of the support protrusion (22) is used to cooperate with the workpiece (100) to assist in supporting the workpiece (100).

4. The clamping device according to any one of claims 1 to 3, characterized in that: The clamping device further comprises a second telescopic mechanism (7), a first end of the second telescopic mechanism (7) being fixed to the mounting seat (1), a second end of the second telescopic mechanism (7) being used for mounting the driving wheel (3), and the second telescopic mechanism (7) being used for driving the driving wheel (3) to move so as to adjust the tension of the clamping belt (2).

5. A laser processing device, characterized in that: The clamping device according to claim 4 is applied, and the laser processing equipment also includes a laser drilling robot, a turntable (8), a conveying device (92) for conveying a workpiece (100) arranged on both sides of the turntable (8), and a laser ranging device (91) located on one side of the turntable (8), and a clamping mechanism for clamping the workpiece (100) is provided on the turntable (8).

6. The laser processing equipment according to claim 5, characterized in that The surface of the turntable (8) is provided with a guide groove (81) in the radial direction, and a plurality of the guide grooves (81) are evenly distributed along the circumference of the turntable (8); the clamping mechanism includes a third telescopic mechanism arranged in the turntable (8); the third telescopic mechanism includes a telescopic rod (83) arranged in the direction of the guide groove (81); a support rod (82) is axially provided on the telescopic rod (83); the support rod (82) extends from the guide groove (81) to the outside of the surface of the turntable (8).

7. A laser drilling method, applied to the laser processing equipment according to any one of claims 5 or 6, characterized in that: The laser drilling method includes the following contents: S1. The first and second telescopic mechanisms operate independently, and the rotating mechanism simultaneously drives the first telescopic mechanism to rotate backward to a preset angle, so that the clamping device is connected to the conveyor. The drive wheel rotates, driving the clamping belt. The workpiece is transferred from the conveyor to the clamping belt and moves with the clamping belt to the turntable position. S2. The first telescopic mechanism and the second telescopic mechanism extend and simultaneously the rotating mechanism drives the first telescopic mechanism to swing toward the clamped workpiece; S3. The workpiece is located above the turntable, the first telescopic mechanism is retracted, the workpiece is separated from the clamping device and falls onto the turntable, and the clamping mechanism of the turntable clamps the workpiece; S4. Start the laser ranging device to obtain the current coordinate system of the workpiece; S5. Resample the punching area of ​​the workpiece based on the set coordinate system, calculate the error value, and calculate the actual punching position based on the theoretical value and the error value; S6. Start laser drilling and drill holes at the actual drilling position; S7. Punching is completed.

8. The laser drilling method according to claim 7, characterized in that: Step S5 includes: S51. The laser ranging device uniformly samples the preset distance position L from the center of the coordinate system; S52. Get the sampling distance Ln, where n represents the sampling point number starting from 0; S53. Fit the center of the circle based on the least squares method.

9. The laser drilling method according to claim 8, characterized in that: Step S53 includes: Corresponding sampling points to Xn 2 +Yn 2 +DXn+EYn+F=εn, where εn is the error; Based on minimizing the sum of squared errors Constructing a system of equations Construct the least squares matrix to calculate AX=B, where Solve for X=(A T A) -1 (A T B), after D and E are obtained, the center of the circle is (a, b) = (-D / 2+Xp,-E / 2+Yp).

10. The laser drilling method according to claim 8, characterized in that: Step S7 also includes: the clamping mechanism of the turntable retracts, the rotating mechanism drives the first telescopic mechanism to swing, and the first telescopic mechanism moves to connect the clamping belt with the conveying mechanism and cooperate with the workpiece, and the driving wheel drives the clamping belt to rotate and drive the workpiece to move toward the conveying device.

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