A multi-degree-of-freedom intelligent cutting system and method

Abstract

The present invention provides a multi-degree-of-freedom intelligent cutting system, which includes a workbench device, an intelligent laser cutting device and an intelligent control system arranged on the workbench device, an X-axis moving mechanism, a Y-axis moving mechanism, and a Z-axis moving mechanism also arranged on the workbench device, and an A-axis rotation mechanism, a B-axis rotation mechanism, and a laser cutting head arranged on the intelligent laser cutting device. During operation, the intelligent control system first determines the coordinate position of the intelligent laser cutting device through the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism, and then rotates the laser cutting head to a suitable cutting angle through the A-axis rotation mechanism and the B-axis rotation mechanism. The multi-degree-of-freedom intelligent cutting system described in the present invention has a high degree of freedom and operational flexibility, thereby improving the motion freedom and operational flexibility of the intelligent laser cutting device, and further improving the cutting accuracy of the product.

Description

Technical Field

[0001] The present invention relates to the field of laser cutting, and in particular to a multi-degree-of-freedom intelligent cutting system and method. Background Art

[0002] The current laser cutting automation solutions are: one is a small workbench plus a laser cutting head, which can meet the cutting requirements of small flat workpieces. Due to the limitation of the workbench size, it cannot complete the cutting requirements of large spatial spans or three-dimensional cutting that exceeds the workbench size. For larger blanks, pre-processing is required first, and the blanks are manually cut into suitable clamping sizes, and then clamped and cut. The other is to use a gantry plus robot. In this way, multiple joints will appear, and the inverse solution of certain positions may be difficult to solve, and sometimes even no solution will occur. Therefore, the internal control algorithm generally uses multiple forward solutions to plan the fitting cutting path. Therefore, it is difficult to optimize the path for the case of multiple cutting shapes on a plate, which increases the idle stroke and reduces work efficiency. The current solution to this solution is generally to adopt a semi-automatic state. The six-axis and gantry use two control systems, which are controlled separately and combined with manual teaching for control. The other is to use a gantry plus a welded laser cutting head. This method generally requires selecting a suitable gantry according to the size and precision requirements of common workpieces. The system has low degrees of freedom and insufficient flexibility. Some workpieces that need to cut multiple angles and positions cannot be completed, and the application range is limited. Plans 1 and 3 are for workpieces that require further processing or assembly. If the further processing or assembly process will result in a larger volume or more complex shape of the workpiece, the processing step can only be cutting first, which will make it difficult to ensure the accuracy of the final product.

[0003] In view of this, the present invention is proposed. Summary of the Invention

[0004] The purpose of the present invention is to propose a multi-degree-of-freedom intelligent cutting system and method to solve the problems of low degrees of freedom, insufficient flexibility and low product precision of the cutting device in the prior art.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A multi-degree-of-freedom intelligent cutting system, the multi-degree-of-freedom intelligent cutting system includes a workbench device, an intelligent laser cutting device and an intelligent control system are arranged on the workbench device, an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism are also arranged on the workbench device, and an A-axis rotation mechanism, a B-axis rotation mechanism and a laser cutting head are arranged on the intelligent laser cutting device. When working, the intelligent control system first determines the coordinate position of the intelligent laser cutting device through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and then rotates the laser cutting head to a suitable cutting angle through the A-axis rotation mechanism and the B-axis rotation mechanism.

[0007] The multi-degree-of-freedom intelligent cutting system described in the present invention has an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, which enable the multi-degree-of-freedom intelligent cutting system to have displacement degrees of freedom in three directions, and an A-axis rotation mechanism and a B-axis rotation mechanism, which enable the multi-degree-of-freedom intelligent cutting system to have rotation degrees of freedom in two directions. When working, the intelligent control system first determines the coordinate position of the intelligent laser cutting device through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and then rotates the laser cutting head to a suitable cutting angle through the A-axis rotation mechanism and the B-axis rotation mechanism; thereby improving the movement freedom and operational flexibility of the intelligent laser cutting device, and further improving the cutting accuracy of the product.

[0008] Furthermore, the B-axis rotating mechanism is mounted on the Z-axis moving mechanism, the A-axis rotating mechanism is mounted on the B-axis rotating mechanism, and the laser cutting head is mounted on the A-axis rotating mechanism.

[0009] In this setup, the B-axis rotation mechanism, A-axis rotation mechanism, and Z-axis movement mechanism are interrelated and inseparable with the laser cutting head, which facilitates the laser cutting head to achieve a suitable cutting angle during cutting, thereby improving the motion freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and further improving the cutting accuracy of the product.

[0010] Furthermore, a module moving mechanism is also provided on the intelligent laser cutting device. The module moving mechanism is provided between the A-axis rotating mechanism and the laser cutting head. The module moving mechanism can drive the laser cutting head to move up and down.

[0011] The module moving mechanism can drive the laser cutting head to move up and down. The module moving mechanism fine-tunes the cutting position of the laser cutting head, further facilitating the laser cutting head to achieve a suitable cutting angle during cutting, thereby improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and thereby improving the cutting accuracy of the product.

[0012] Furthermore, the B-axis rotating mechanism is horizontally mounted on the Z-axis moving mechanism, the B-axis rotating mechanism is vertically arranged to the A-axis rotating mechanism, the A-axis rotating mechanism is vertically arranged to the module moving mechanism, and the laser cutting head is mounted on the module moving mechanism.

[0013] This setting enables the B-axis rotation mechanism to drive the laser cutting head to rotate in the horizontal plane. The B-axis rotation mechanism is set perpendicular to the A-axis rotation mechanism, which enables the A-axis rotation mechanism to drive the laser cutting head to rotate in the vertical plane. The A-axis rotation mechanism is set perpendicular to the module moving mechanism, which enables the module moving mechanism to drive the laser cutting head to move up and down, further facilitating the laser cutting head to achieve the appropriate cutting angle when cutting, thereby improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and thereby improving the cutting accuracy of the product.

[0014] Furthermore, the B-axis rotation mechanism includes a B-axis rotation motor and a second reducer, a first adapter plate is arranged at the end of the Z-axis moving mechanism, and a B-axis rotation motor and a second reducer are arranged horizontally below the first adapter plate. The B-axis rotation motor can drive the laser cutting head to perform B-axis rotation movement around the Z-axis moving mechanism.

[0015] Furthermore, the A-axis rotation mechanism includes an A-axis rotation motor and a first reducer, and a first adapter frame is arranged at the end of the B-axis rotation mechanism, and the A-axis rotation motor and the first reducer are arranged vertically on the first adapter frame. The A-axis rotation motor can drive the laser cutting head to perform A-axis rotation movement around the center of the A-axis rotation motor.

[0016] Furthermore, the module moving mechanism includes a lifting motor and a third reducer, a second adapter plate is provided at the end of the A-axis rotating mechanism, and the lifting motor and the third reducer are horizontally provided on the second adapter plate.

[0017] Furthermore, a Y-axis moving mechanism is provided on the workbench device, an X-axis moving mechanism is provided on the Y-axis moving mechanism, and a Z-axis moving mechanism is provided on the X-axis moving mechanism.

[0018] Furthermore, the working platform of the workbench device is configured as a hollow structure.

[0019] This arrangement makes it easy for waste such as iron slag generated during cutting to fall from the working platform of the hollow structure.

[0020] In a second aspect of the present invention, a multi-degree-of-freedom intelligent cutting method is proposed. The multi-degree-of-freedom intelligent cutting method uses any one of the multi-degree-of-freedom intelligent cutting systems described above. The multi-degree-of-freedom intelligent cutting method comprises the following steps:

[0021] start;

[0022] Clamping workpieces;

[0023] Confirm cutting path, speed and displacement;

[0024] Cutting.

[0025] The present invention proposes a multi-degree-of-freedom intelligent cutting system and method. Compared with the prior art, the multi-degree-of-freedom intelligent cutting system and method of the present invention have the following beneficial effects:

[0026] 1) The multi-degree-of-freedom intelligent cutting system and method described in the present invention, the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism enable the multi-degree-of-freedom intelligent cutting system to have displacement degrees of freedom in three directions, and the A-axis rotation mechanism and the B-axis rotation mechanism enable the multi-degree-of-freedom intelligent cutting system to have rotation degrees of freedom in two directions. During operation, the intelligent control system first determines the coordinate position of the intelligent laser cutting device through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and then rotates the laser cutting head to a suitable cutting angle through the A-axis rotation mechanism and the B-axis rotation mechanism; thereby improving the movement freedom and operational flexibility of the intelligent laser cutting device, and further improving the cutting accuracy of the product.

[0027] 2) The multi-degree-of-freedom intelligent cutting system and method described in the present invention can cut large workpieces, has 5 degrees of freedom, and can solve the kinematic inverse relatively simply, facilitating the application of path planning algorithms to optimize the path.

[0028] 3) The multi-degree-of-freedom intelligent cutting system and method described in the present invention can be applied to the needs of three-dimensional cutting of workpieces, and can also be applied to the situations of welding first and then cutting or assembling first and then cutting, which can better control the product precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the overall three-dimensional structure of a multi-degree-of-freedom intelligent cutting system according to an embodiment of the present invention;

[0030] Figure 2 for Figure 1 A schematic diagram of the enlarged three-dimensional structure at point A in the middle;

[0031] Figure 3 for Figure 1 Schematic diagram of the enlarged three-dimensional structure at B in the middle;

[0032] Figure 4 for Figure 1 Schematic diagram of the enlarged three-dimensional structure at point C in the middle.

[0033] Description of reference numerals:

[0034] 1. Workbench device; 11. Work platform; 12. Base; 2. X-axis moving mechanism; 21. X-axis rack; 22. X-axis slide; 23. X-axis motor; 24. X-axis drag chain; 25. Crossbeam; 3. Y-axis moving mechanism; 31. Y-axis slide; 32. Y-axis slide; 33. Y-axis motor; 34. Y-axis drag chain; 341. Protective guide cover; 35. Support frame; 4. Z-axis moving mechanism; 40. Mounting frame; 41. Z-axis rack; 42. Z-axis slide; 43. Z-axis motor; 44. Z-axis drag chain; 45. Z-axis gear; 46. Mounting block; 461. Mounting slot; 5. Intelligent laser cutting device; 51. A-axis rotating mechanism; 511. A-axis rotating motor; 52. B-axis rotating mechanism; 521. B-axis rotating motor; 53. Module moving mechanism; 531. Lifting motor; 54. Camera; 55. Radar; 56. Laser cutting head; 57. First adapter plate; 58. First adapter frame; 581. Horizontal adapter plate; 582. Vertical adapter plate; 583. Reinforcement rib; 59. Second adapter plate; 6. Intelligent control system; 61. Electric control cabinet; 62. Teaching pendant. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The descriptions of "first", "second", etc. mentioned in the embodiments of the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0036] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0037] Example 1

[0038] This embodiment proposes a multi-degree-of-freedom intelligent cutting system, such as Figures 1 to 4 As shown, the multi-degree-of-freedom intelligent cutting system includes a workbench device 1, an intelligent laser cutting device 5 and an intelligent control system 6. The intelligent laser cutting device 5 and the intelligent control system 6 are set on the workbench device 1. The workbench device 1 includes an X-axis moving mechanism 2, a Y-axis moving mechanism 3 and a Z-axis moving mechanism 4. Figure 4As shown, the intelligent laser cutting device 5 includes an A-axis rotation mechanism 51, a B-axis rotation mechanism 52 and a laser cutting head 56. The A-axis rotation mechanism 51 and the B-axis rotation mechanism 52 can rotate the laser cutting head 56 to a corresponding cutting angle. When working, the intelligent control system 6 first determines the coordinate position of the intelligent laser cutting device 5 through the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and then rotates the laser cutting head 56 to a suitable cutting angle through the A-axis rotation mechanism 51 and the B-axis rotation mechanism 52.

[0039] The multi-degree-of-freedom intelligent cutting system described in this embodiment has three degrees of freedom of displacement in the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and two degrees of rotation in the A-axis rotation mechanism 51 and the B-axis rotation mechanism 52. When working, the intelligent control system 6 first determines the coordinate position of the intelligent laser cutting device 5 through the X-axis moving mechanism 2, the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4, and then rotates the laser cutting head 56 to a suitable cutting angle through the A-axis rotation mechanism 51 and the B-axis rotation mechanism 52; thereby improving the freedom of movement and operational flexibility of the intelligent laser cutting device 5, and further improving the cutting accuracy of the product.

[0040] Specifically, such as Figure 4 As shown, the B-axis rotating mechanism 52 is mounted on the Z-axis moving mechanism 4 , the A-axis rotating mechanism 51 is mounted on the B-axis rotating mechanism 52 , and the laser cutting head 56 is mounted on the A-axis rotating mechanism 51 .

[0041] In this setting, the B-axis rotation mechanism 52, the A-axis rotation mechanism 51, the Z-axis movement mechanism 4 and the laser cutting head 56 are interrelated and inseparable, which makes it easy for the laser cutting head 56 to achieve a suitable cutting angle when cutting, thereby improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and further improving the cutting accuracy of the product.

[0042] Specifically, such as Figure 4 As shown, a module moving mechanism 53 is further provided on the intelligent laser cutting device 5. The module moving mechanism 53 is provided between the A-axis rotating mechanism 51 and the laser cutting head 56. The module moving mechanism 53 can drive the laser cutting head 56 to perform upper and lower module fine-tuning movements.

[0043] The module moving mechanism 53 can drive the laser cutting head 56 to move up and down. The module moving mechanism 53 fine-tunes the cutting position of the laser cutting head 56, further facilitating the laser cutting head 56 to achieve a suitable cutting angle during cutting, thereby improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and thereby improving the cutting accuracy of the product.

[0044] More specifically, the module moving mechanism 53 is of a small stroke and lightweight type. This configuration facilitates the module moving mechanism 53 to fine-tune the cutting position of the laser cutting head 56 .

[0045] More specifically, Figure 4 As shown, the B-axis rotation mechanism 52 is horizontally installed on the Z-axis moving mechanism 4, the B-axis rotation mechanism 52 is vertically arranged with the A-axis rotation mechanism 51, the A-axis rotation mechanism 51 is vertically arranged with the module moving mechanism 53, and the laser cutting head 56 is installed on the module moving mechanism 53.

[0046] This setting enables the B-axis rotation mechanism 52 to drive the laser cutting head 56 to rotate in the horizontal plane. The B-axis rotation mechanism 52 is arranged perpendicularly to the A-axis rotation mechanism 51, so that the A-axis rotation mechanism 51 can drive the laser cutting head 56 to rotate in the vertical plane. The A-axis rotation mechanism 51 is arranged perpendicularly to the module moving mechanism 53, so that the module moving mechanism 53 can drive the laser cutting head 56 to move up and down, further facilitating the laser cutting head 56 to achieve a suitable cutting angle when cutting, thereby improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, and thereby improving the cutting accuracy of the product.

[0047] More specifically, Figure 4 As shown, the B-axis rotation mechanism 52 includes a B-axis rotation motor 521 and a second reducer, a first adapter plate 57 is arranged at the end of the Z-axis moving mechanism 4, and the B-axis rotation motor 521 and the second reducer are horizontally arranged below the first adapter plate 57. The B-axis rotation motor 521 can drive the laser cutting head 56 to perform B-axis rotation movement around the Z-axis moving mechanism 4.

[0048] More specifically, Figure 4 As shown, the rotation plane of the B-axis rotational motion is a horizontal plane.

[0049] More specifically, Figure 4As shown, the A-axis rotation mechanism 51 includes an A-axis rotation motor 511 and a first reducer. A first adapter frame 58 is provided at the end of the B-axis rotation mechanism 52. The A-axis rotation motor 511 and the first reducer are vertically provided on the first adapter frame 58. The A-axis rotation motor 511 can drive the laser cutting head 56 to perform A-axis rotation movement around the center of the A-axis rotation motor 511.

[0050] More specifically, Figure 4 As shown, the rotation plane of the A-axis rotation motion is a vertical plane. More specifically, as Figure 4 As shown, the rotation plane of the B-axis rotational motion is perpendicular to the rotation plane of the A-axis rotational motion.

[0051] More specifically, Figure 4 As shown, the first adapter frame 58 is arranged in an L shape, and the first adapter frame 58 includes a horizontal adapter plate 581 and a vertical adapter plate 582. The vertical adapter plate 582 is vertically connected to one end of the horizontal adapter plate 581.

[0052] Specifically, a reinforcement device is provided on the first adapter frame 58 .

[0053] This configuration enhances the structural strength of the first adapter frame 58 .

[0054] More specifically, Figure 4 As shown, a reinforcing rib 583 is provided between the horizontal adapter plate 581 and the vertical adapter plate 582. The provision of the reinforcing rib 583 strengthens the structural strength of the first adapter frame 58.

[0055] More specifically, Figure 4 As shown, the module moving mechanism 53 includes a lifting motor 531 and a third reducer. A second adapter plate 59 is provided at the end of the A-axis rotating mechanism 51 , and the lifting motor 531 and the third reducer are horizontally provided on the second adapter plate 59 .

[0056] Specifically, such as Figure 4 As shown, a camera device and a radar device are also provided on the intelligent laser cutting device 5 .

[0057] Specifically, such as Figure 4 As shown, a camera 54 and a radar 55 are also provided on the intelligent laser cutting device 5 .

[0058] More specifically, Figure 4 As shown, the camera 54 is arranged below the first adapter frame 58, which facilitates the camera 54 to capture the image position of the laser cutting head 56 and the workpiece. The radar 55 is arranged on both sides of the first adapter frame 58 to facilitate real-time detection of the movement of surrounding obstacles.

[0059] More specifically, Figure 1 and Figure 4 As shown, the working platform 11 of the workbench device 1 is configured as a hollow structure.

[0060] This arrangement facilitates waste such as iron slag generated during cutting to fall from the working platform 11 with a hollow structure.

[0061] More specifically, Figure 1 and Figure 3 As shown, a Y-axis moving mechanism 3 is provided on the workbench device 1, an X-axis moving mechanism 2 is provided on the Y-axis moving mechanism 3, a Z-axis moving mechanism 4 is provided on the X-axis moving mechanism 2, and an intelligent laser cutting device 5 is provided on the Z-axis moving mechanism 4.

[0062] This arrangement facilitates the movement of the intelligent laser cutting device 5 in the X-axis, Y-axis and Z-axis directions.

[0063] Specifically, such as Figures 1 to 4 As shown, a Y-axis moving mechanism 3 is provided on the workbench device 1, an X-axis moving mechanism 2 is provided on the Y-axis moving mechanism 3, and a Z-axis moving mechanism 4 is provided on the X-axis moving mechanism 2. The B-axis rotating mechanism 52 is installed on the Z-axis moving mechanism 4, the A-axis rotating mechanism 51 is installed on the B-axis rotating mechanism 52, the module moving mechanism 53 is installed on the A-axis rotating mechanism 51, and the laser cutting head 56 is installed on the module moving mechanism 53.

[0064] This setting links the X-axis, Y-axis, Z-axis, A-axis, B-axis and module fine-tuning movements of the laser cutting head 56, jointly realizing the multi-degree-of-freedom movement of the multi-degree-of-freedom intelligent cutting system, and jointly improving the movement freedom and operational flexibility of the multi-degree-of-freedom intelligent cutting system, thereby improving the cutting accuracy of the product.

[0065] More specifically, Figure 1 、 Figure 2 and Figure 3 As shown, a Y-axis drag chain 34 is provided on the Y-axis moving mechanism 3, an X-axis drag chain 24 is provided on the X-axis moving mechanism 2, and a Z-axis drag chain 44 is provided on the Z-axis moving mechanism 4. Wires and optical fibers are provided in the Y-axis drag chain 34, the X-axis drag chain 24, and the Z-axis drag chain 44 to facilitate the rotation and movement of the wires and optical fibers and ensure smooth cutting.

[0066] More specifically, Figure 3As shown, the Y-axis drag chain 34, X-axis drag chain 24, and Z-axis drag chain 44 are all configured as closed drag chains, effectively protecting the wires and optical fibers. The Y-axis drag chain 34 is configured as a closed drag chain, and a protective guide cover 341 is provided on the outside of the Y-axis drag chain 34. This covers the Y-axis drag chain 34, preventing heat from the cutting slag from transferring to the Y-axis drag chain 34 and achieving a flame retardant effect. Furthermore, it guides the Y-axis drag chain 34 along the protective guide cover 341, ensuring that the Y-axis drag chain 34 does not deviate from its movement.

[0067] More specifically, Figure 1 and Figure 3 As shown, bases 12 are symmetrically arranged on both sides of the working platform 11, and Y-axis moving mechanisms 3 are arranged on the bases 12. The Y-axis moving mechanisms 3 include a Y-axis motor 33, a Y-axis slide rail 32, a Y-axis slide table 31, a Y-axis rack (not shown in the figure) and a Y-axis drag chain 34.

[0068] More specifically, Figure 3 As shown, a Y-axis gear (not shown in the figure) is installed on the Y-axis motor 33, the Y-axis gear is engaged with the Y-axis rack for transmission, the Y-axis slide rail 32 is connected to the Y-axis rack, the Y-axis slide 31 is installed on the Y-axis slide rail 32, and the support frame 35 is installed on the Y-axis slide 31.

[0069] The Y-axis slide rail 32 and the Y-axis slide table 31 of the Y-axis moving mechanism 3 provide moving support, and are driven by the Y-axis gear and the Y-axis rack.

[0070] More specifically, Figure 1 and Figure 2 As shown, a crossbeam 25 is mounted on the two support frames 35 , and an X-axis moving mechanism 2 is mounted on the crossbeam 25 . The X-axis moving mechanism 2 includes an X-axis rack 21 , an X-axis slide rail 22 , an X-axis motor 23 and an X-axis drag chain 24 .

[0071] More specifically, Figure 2 As shown, an X-axis motor 23 is installed on the crossbeam 25, an X-axis gear (not shown) is installed on the X-axis motor 23, the X-axis gear is meshed and connected with the X-axis rack 21 for transmission, the X-axis slide rail 22 is connected to the X-axis rack 21, and a mounting bracket 40 is installed on the X-axis slide rail 22.

[0072] The X-axis slide rail 22 of the X-axis moving mechanism 2 provides moving support and is driven by the X-axis gear and the X-axis rack 21 .

[0073] More specifically, Figure 2 As shown, the Z-axis moving mechanism 4 is mounted on the X-axis moving mechanism 2 via a mounting bracket 40 .

[0074] More specifically, Figure 2 As shown, a mounting groove 461 is provided on the mounting frame 40 , and the mounting groove 461 cooperates with the X-axis slide rail 22 .

[0075] More specifically, Figure 2 As shown, the mounting groove 461 is provided on the mounting block 46. The mounting block 46 is mounted on a side of the mounting frame 40 close to the X-axis.

[0076] The mounting frame 40 is configured as a cavity with upper and lower openings.

[0077] A Z-axis motor 43 is mounted on the mounting frame 40 , and a Z-axis gear 45 is mounted on the Z-axis motor 43 . The Z-axis gear 45 is meshed and connected with the Z-axis rack 41 for transmission, and the Z-axis slide rail 42 is connected to the Z-axis rack 41 .

[0078] The Z-axis slide rail 42 of the Z-axis moving mechanism 4 provides moving support and is driven by the Z-axis gear 45 and the Z-axis rack 41 .

[0079] The multi-degree-of-freedom intelligent cutting system is also provided with an emergency stop button and a warning light (not shown in the figure).

[0080] Specifically, such as Figure 1 As shown, the intelligent control system 6 includes an electric control cabinet 61 and a teaching pendant 62. A motor drive and control circuit are provided inside the electric control cabinet 61. The teaching pendant 62 includes a control panel and an emergency stop button.

[0081] More specifically, the multi-degree-of-freedom intelligent cutting system can automatically identify the surrounding environment. A camera 54 and a radar 55 are installed on the intelligent laser cutting device 5, and radar devices are installed on the support frame 35 and the Z-axis moving mechanism 4. During operation, it can identify the real-time status of surrounding obstacles and provide real-time feedback to the intelligent control system 6. When an obstacle affects the cutting movement, a warning will be issued, and the movement will be automatically stopped if the distance is too short.

[0082] The intelligent control system 6 includes not only the electric control cabinet 61 and the teaching pendant 62 but also other related components such as a control module and a communication module. Since the specific structures and specific assembly relationships of the related components are all existing technologies, they will not be described in detail here.

[0083] This embodiment proposes a multi-degree-of-freedom intelligent cutting system. Compared with the prior art, the multi-degree-of-freedom intelligent cutting system of the present invention has the following beneficial effects:

[0084] 1) The multi-degree-of-freedom intelligent cutting system described in this embodiment has three degrees of freedom of displacement in the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and two degrees of freedom of rotation in the A-axis rotation mechanism and the B-axis rotation mechanism. When working, the intelligent control system first determines the coordinate position of the intelligent laser cutting device through the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism, and then rotates the laser cutting head to a suitable cutting angle through the A-axis rotation mechanism and the B-axis rotation mechanism; thereby improving the movement freedom and operational flexibility of the intelligent laser cutting device, and further improving the cutting accuracy of the product.

[0085] 2) The multi-degree-of-freedom intelligent cutting system described in this embodiment is capable of cutting large workpieces, has 5 degrees of freedom, and can solve the kinematic inverse relatively simply, making it easy to apply a path planning algorithm to optimize the path.

[0086] 3) The multi-degree-of-freedom intelligent cutting system described in this embodiment can be applied to the needs of three-dimensional cutting of workpieces. It can also be applied to the situations of welding first and then cutting, or assembling first and then cutting, and can better control the product precision.

[0087] Example 2

[0088] This embodiment provides a multi-degree-of-freedom intelligent cutting method, which uses a multi-degree-of-freedom intelligent cutting system as described in any one of Embodiment 1. The multi-degree-of-freedom intelligent cutting method includes the following steps:

[0089] S1, start;

[0090] S2, clamping the workpiece;

[0091] Specifically, the workpiece is clamped onto the working platform 11 .

[0092] S3, confirm cutting path, speed and displacement;

[0093] S4. Cutting.

[0094] Step S4 specifically includes the following steps:

[0095] S41, determining the coordinate position of the intelligent laser cutting device 5;

[0096] Specifically, the intelligent control system 6 first determines the coordinate position of the intelligent laser cutting device 5 through the X-axis moving mechanism 2 , the Y-axis moving mechanism 3 and the Z-axis moving mechanism 4 .

[0097] S42, rotating the laser cutting head 56 to a suitable cutting angle;

[0098] The laser cutting head 56 is rotated to a suitable cutting angle by the A-axis rotating mechanism 51 and the B-axis rotating mechanism 52 .

[0099] S43, fine-tuning the cutting position of the laser cutting head 56;

[0100] The module moving mechanism 53 drives the laser cutting head 56 to move up and down to fine-tune the cutting position of the laser cutting head 56 .

[0101] S44. Complete the cutting work according to the determined cutting path, speed and displacement.

[0102] More specifically, step S44 includes the following steps:

[0103] S441, simulating a cutting operation according to the determined cutting path, speed, and displacement;

[0104] By simulating the cutting work according to the determined cutting path, speed and displacement in step S441 and performing an idle stroke motion of the cutting path, the rationality of the cutting path can be confirmed. If the path is unreasonable, manual teaching correction can be performed.

[0105] S442. Complete the cutting work according to the determined cutting path, speed and displacement.

[0106] Step S3 specifically includes the following steps:

[0107] S31, inputting a three-dimensional model of a workpiece;

[0108] Specifically, the operator inputs the three-dimensional model of the workpiece into the intelligent control system 6 .

[0109] S32, setting the cutting position;

[0110] Specifically, the equipment performs automatic edge inspection and calibration through the camera 54 and radar 55 of the cutting head, and transmits the structure to the intelligent control system 6.

[0111] More specifically, the process of automatic edge inspection and calibration of the multi-degree-of-freedom intelligent cutting system is as follows:

[0112] First, the image is processed to extract the R, G, and B components of the image, and the grayscale value of the image is calculated. Grayscale value = 0.299R + 0.578G + 0.144B.

[0113] Extend the grayscale range [a,b] to [Z1,Z k ],in

[0114] Use the Gaussian function to filter the image f(x,y) to get f(x,y)*G(x,y,σ), and then calculate the direction of its gradient vector and modulus:

[0115] M=||f(x,y)*G(x,y,σ)||

[0116]

[0117] The edge points of an image are local maximum points that are modulo M in the direction A.

[0118] S33, the intelligent control system 6 plans a reasonable cutting path through an internal algorithm and calculates the movement speed and displacement of each axis.

[0119] Specifically, the laser cutting trajectory planning of the three-dimensional sheet metal part is completed by extracting the contour of the three-dimensional sheet metal part, discretizing the processing contour, processing the discrete clutter problem, and dividing each contour into ring point sets.

[0120] More specifically, the surface model is first imported, followed by contour extraction and discretization. The discrete points are processed using an algorithm, followed by a contour ringing algorithm, followed by seven sorting and distribution steps, and finally, the starting points of each ring are calculated. The extraction and discretization process primarily involves merging multiple surface segments using a continuous extension method to create a smooth, continuous surface. Based on the model's characteristics, the appropriate points, edges, or faces are extracted, and the contour curves to be processed are separated. The discrete data points are then processed using a nearest distance sorting method, with an improved sorting method based on each contour line. Duplicate discrete points on each curve segment are then deleted, with the distance set to zero. The distance between two adjacent points is then determined to be greater than the maximum discretization distance. If greater, the two rings are interleaved; if less, the discrete points are on the same ring. This allows the entire set of discrete points to be divided into multiple contour ring point sets, which are then calculated according to the flowchart to determine the shortest processing path.

[0121] Specifically, the intelligent control system 6 can automatically generate a cutting path, and for a curved cutting path, a tool position optimization solution based on curvature is adopted.

[0122] More specifically, the curvature radius of the machining curve is calculated, and the discrete step length is expressed as R=2×r×sinθ, where θ represents the curvature circle angle of adjacent tool positions, which is defined according to the interpolation accuracy.

[0123] More specifically, the space curve can be approximated as a series of tool points, where the curvature angle θ of adjacent tool points is proportional to the chord height H. P The relationship is:

[0124]

[0125] Pick Among them [E max ,E min ] is the chord height interval.

[0126] Suppose the mapping of curve P with respect to parameter t is The interval of parameter t is (a, b), and the arc length parameter is The curvature is t0 is the starting coordinate, and the curvature at t0 is By setting the reference sphere radius R, the parametric equation x of the reference sphere at the starting point is established. 2 (t-t0)+y 2 (t-t0)+z 2 (t-t0)=R 2 , the next knife position p1 can be calculated, and the corresponding parameter is t2.

[0127] Specifically, in the process of generating the cutting path, the cutting angle of the laser cutting head 56 also needs to be continuously adjusted to prevent interference with the workpiece. The AABB hierarchical enclosing box method is used internally to approximate the workpiece as a series of rectangular sets along the axial direction, and the laser cutting head 56 is approximated as an enclosing sphere. The specific situations are divided into four categories: 1. The center of the sphere is in the enclosing box; 2. The point closest to the center of the sphere from the workpiece enclosing box set is on the box surface; 3. The point closest to the center of the sphere from the workpiece enclosing box set is on the box edge; 4. The point closest to the center of the sphere from the workpiece enclosing box set is on the box vertex.

[0128] More specifically, the coordinates of the six vertices on the workpiece enclosing box can be expressed as x max 、y max 、z max 、x min 、y min 、z min Indicates that, let the coordinates of the laser head sphere center be (c1, c2, c3), and define event A:x min <c0<x max ; B: y min <c1<y max ; C: z min <c3<z max ;L min represents the shortest distance from the workpiece containing box set (workpiece) to the center of the sphere; r represents the center radius of the containing sphere (laser cutting head 56).

[0129] When ABC occurs at the same time, the center of the sphere is inside the containing box, and there must be interference.

[0130] When two of ABC occur, the shortest distance from the enclosing box to the center of the sphere is on a certain surface; if L min ≤r, then interference; if L min >r, then do not interfere.

[0131] When any of ABC occurs, the shortest distance from the enclosing box to the center of the sphere is on an edge; if L min ≤r, then interference; if L min >r, then do not interfere.

[0132] When ABC does not occur, the shortest distance from the enclosing box to the center of the sphere is at a vertex; if L min ≤r, then interference; if L min >r, then do not interfere.

[0133] When interference occurs, the position of the laser cutting head 56 can be adjusted by translation in the X, Y, and Z directions or rotation of the A-axis rotation mechanism 51 and the B-axis rotation mechanism 52. At the same time, the position of the laser cutting head 56 around the workpiece can be measured in real time by the radar 55 for real-time regulation.

[0134] The AABB hierarchical enclosing box method includes other contents besides the above-mentioned contents. Since the relevant contents are all existing technologies, they will not be described in detail here.

[0135] More specifically, a Mastercam module may be embedded in the intelligent control system 6 to convert the machining path into a robot programming language, and the Jacobi algorithm and the Pieper algorithm may be embedded in the intelligent control system 6 to calculate the machining path speed and displacement.

[0136] The advantages of the multi-degree-of-freedom intelligent cutting method and the multi-degree-of-freedom intelligent cutting system described above over the prior art are the same and will not be described in detail here.

[0137] Although the present invention is disclosed above, the present invention is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope defined by the claims.

Claims

1. A multi-degree-of-freedom intelligent cutting system, characterized in that: The multi-degree-of-freedom intelligent cutting system comprises a workbench device (1), an intelligent laser cutting device (5) and an intelligent control system (6) are arranged on the workbench device (1), an X-axis moving mechanism (2), a Y-axis moving mechanism (3) and a Z-axis moving mechanism (4) are also arranged on the workbench device (1), an A-axis rotation mechanism (51), a B-axis rotation mechanism (52) and a laser cutting head (56) are arranged on the intelligent laser cutting device (5), and when working, the intelligent control system (6) first determines the coordinate position of the intelligent laser cutting device (5) through the X-axis moving mechanism (2), the Y-axis moving mechanism (3) and the Z-axis moving mechanism (4), and then rotates the laser cutting head (56) to a suitable cutting angle through the A-axis rotation mechanism (51) and the B-axis rotation mechanism (52); A first adapter frame (58) is provided at the end of the B-axis rotating mechanism (52); A camera (54) and a radar (55) are also provided on the intelligent laser cutting device (5); The camera (54) is arranged below the first adapter frame (58), and the radar (55) is arranged on both sides of the first adapter frame (58); The multi-degree-of-freedom intelligent cutting method uses the multi-degree-of-freedom intelligent cutting system, and the multi-degree-of-freedom intelligent cutting method includes the following steps: S1, start; S2, clamping the workpiece; S3, confirm cutting path, speed and displacement; S4, cutting; Step S3 specifically includes the following steps: S31, inputting a three-dimensional model of a workpiece; Specifically, an operator inputs a three-dimensional model of a workpiece into the intelligent control system (6); S32, setting the cutting position; Specifically, the device automatically patrols and calibrates the edges through the camera (54) and radar (55) of the cutting head, and transmits the structure to the intelligent control system (6); The process of automatic edge inspection and calibration of the multi-degree-of-freedom intelligent cutting system is as follows: First, the image is processed to extract the R, G, and B components of the image and calculate the grayscale value of the image, grayscale value = 0.299R + 0.578G + 0.144B; Extend the grayscale range [a,b] to [Z1,Z k ],in Use the Gaussian function to filter the image f(x,y) to get f(x,y)*G(x,y,σ), and then calculate the direction of its gradient vector and modulus: M=||f(x,y)*G(x,y,σ)|| The edge point of the image is the local maximum point that modulo M in direction A; S33, the intelligent control system (6) plans a reasonable cutting path through an internal algorithm and calculates the movement speed and displacement of each axis; Specifically, the laser cutting trajectory planning of 3D sheet metal parts is completed by extracting the contour of the 3D sheet metal parts, discretizing the processing contour, processing the discrete clutter problem, and dividing the contour ring point sets. More specifically, first import the surface model, then perform contour extraction and discretization, process discrete points through the algorithm, then perform contour ring algorithm processing, then perform seven sorting and distribution, and finally calculate the starting point of each ring. The extraction and discretization of the processing mainly merges multiple splicing surfaces of the surface through the continuous expansion method to obtain a smooth and continuous surface; extract the corresponding points, edges or faces according to the characteristics of the model, separate the contour curves to be processed, process the discrete data points, and improve the sorting method according to the nearest distance. After processing the discrete points with each contour line as a unit, delete the repeated discrete points on each curve based on the distance being zero, and then judge whether the distance between the two adjacent points is greater than the maximum discrete distance; if greater, the two rings are excessive; if less, it is a discrete point on the same ring; in this way, the entire discrete point set can be divided into multiple contour ring point sets, and the shortest processing path can be obtained by calculation according to the flow chart.

2. The multi-degree-of-freedom intelligent cutting system according to claim 1, characterized in that: The B-axis rotating mechanism (52) is mounted on the Z-axis moving mechanism (4), the A-axis rotating mechanism (51) is mounted on the B-axis rotating mechanism (52), and the laser cutting head (56) is mounted on the A-axis rotating mechanism (51).

3. The multi-degree-of-freedom intelligent cutting system according to claim 2, characterized in that: A module moving mechanism (53) is also provided on the intelligent laser cutting device (5), and the module moving mechanism (53) is provided between the A-axis rotating mechanism (51) and the laser cutting head (56), and the module moving mechanism (53) can drive the laser cutting head (56) to move up and down.

4. The multi-degree-of-freedom intelligent cutting system according to claim 3, characterized in that: The B-axis rotating mechanism (52) is horizontally mounted on the Z-axis moving mechanism (4), the B-axis rotating mechanism (52) is vertically arranged with the A-axis rotating mechanism (51), the A-axis rotating mechanism (51) is vertically arranged with the module moving mechanism (53), and the laser cutting head (56) is mounted on the module moving mechanism (53).

5. The multi-degree-of-freedom intelligent cutting system according to claim 4, characterized in that: The B-axis rotating mechanism (52) includes a B-axis rotating motor (521) and a second reducer. A first adapter plate (57) is provided at the end of the Z-axis moving mechanism (4). The B-axis rotating motor (521) and the second reducer are horizontally provided below the first adapter plate (57). The B-axis rotating motor (521) can drive the laser cutting head (56) to perform B-axis rotating motion around the Z-axis moving mechanism (4).

6. The multi-degree-of-freedom intelligent cutting system according to claim 4, characterized in that: The A-axis rotation mechanism (51) includes an A-axis rotation motor (511) and a first reducer. The A-axis rotation motor (511) and the first reducer are vertically arranged on the first adapter frame (58). The A-axis rotation motor (511) can drive the laser cutting head (56) to perform A-axis rotation movement around the center of the A-axis rotation motor (511).

7. The multi-degree-of-freedom intelligent cutting system according to claim 4, characterized in that: The module moving mechanism (53) includes a lifting motor (531) and a third reducer. A second adapter plate (59) is provided at the end of the A-axis rotating mechanism (51), and the lifting motor (531) and the third reducer are horizontally provided on the second adapter plate (59).

8. The multi-degree-of-freedom intelligent cutting system according to claim 1, characterized in that: A Y-axis moving mechanism (3) is provided on the workbench device (1), an X-axis moving mechanism (2) is provided on the Y-axis moving mechanism (3), and a Z-axis moving mechanism (4) is provided on the X-axis moving mechanism (2).

9. The multi-degree-of-freedom intelligent cutting system according to claim 1, characterized in that: The working platform (11) of the workbench device (1) is configured as a hollow structure.

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