A profile cutting apparatus and a cutting operation method without excess material

Abstract

This invention relates to a profile cutting equipment and a method for cutting without excess material, belonging to the field of shipbuilding equipment manufacturing technology. The technical solution is as follows: a cutting robot (7) controls a fixed-length material conveying chuck (1) to move on a fixed-length material conveying chuck walking track mechanism (2). The fixed-length material conveying chuck drives the material conveying roller (4) to reciprocate along the X direction to complete the positioning and conveying of the profile material. The cutting robot reciprocates along the Y direction on the robot horizontal track (10), driving the cutting torch (5) to cut the profile material to form a workpiece. A fixed-side workpiece lateral clamping mechanism (8) and a moving-side workpiece lateral clamping mechanism (9) are installed on the movable mechanism (12) of the workpiece conveying frame. Multiple workpiece conveying rollers (13) are provided on the movable mechanism of the workpiece conveying frame, and the workpiece conveying rollers drive the workpiece to be conveyed along the X direction. The beneficial effects of this invention are: it can achieve zero-excess material cutting operations, significantly improving the profile cutting range and material utilization rate.

Description

Technical Field

[0001] This invention relates to a profile cutting equipment and a method for cutting without excess material, applicable to profile cutting and processing in the shipbuilding process, and belongs to the field of ship equipment manufacturing technology. Background Technology

[0002] Currently, in the fabrication of structures such as ships and offshore platforms, bulb flats, angle steel, and flat iron are widely used as reinforcing ribs. Because the structures constructed from these profiles are diverse, and the lengths and specifications of the profiles used in different areas often vary, the ends of these reinforcing ribs require various cutting methods due to the need for butt joints and weld passes, and also require welding beveling. In the steel structure manufacturing process, profiles are typically ordered in batches according to a certain length, and then cut into workpieces according to product requirements.

[0003] To achieve high efficiency, low cost, and high quality, many manufacturers use fully automatic profile cutting machines. Due to the variety of cutting methods and the cutting path reaching 1000mm in the length direction of the workpiece, and in order to reduce workpiece deviation during the cutting process, chucks are often used to hold the workpiece and feed it in. However, chucks require raw materials, making it difficult to improve the utilization rate of profiles and resulting in a lot of waste of original profiles. Summary of the Invention

[0004] The purpose of this invention is to provide a profile cutting equipment and a method for cutting without waste material. The equipment uses a cutting robot to drive a cutting torch (gas, plasma, or laser) to cut the end shape and middle hole of profiles (flat steel, equal angle steel, unequal angle steel, and bulb flat steel). It can simultaneously process the bevel required for welding, improve the automation level, cutting range, and material utilization rate of profile cutting, and solve the problems existing in the background technology.

[0005] The technical solution of this invention is:

[0006] A profile cutting device includes a material fixed-length conveying chuck, a material fixed-length conveying chuck traveling track mechanism, a material conveying frame, a material conveying roller, a cutting torch, a cutting torch clamping mechanism, a cutting robot, a fixed-side workpiece lateral clamping mechanism, a moving-side workpiece lateral clamping mechanism, a robot transverse track, a movable mechanism for the workpiece conveying frame, workpiece conveying rollers, and a workpiece conveying frame support mechanism. The material fixed-length conveying chuck is mounted on the material fixed-length conveying chuck traveling track mechanism, which is located on the side of the material conveying frame. Multiple material conveying rollers are provided on the material conveying frame, and profile raw materials are placed on the material conveying rollers. The cutting robot controls the material fixed-length conveying chuck to move along the material fixed-length conveying chuck traveling track mechanism, and the material fixed-length conveying chuck drives the material conveying rollers to reciprocate along the X direction. The system includes the positioning and conveying of raw materials for forming profiles. The raw material conveying frame and workpiece conveying frame support mechanisms are arranged side-by-side, with their center lines aligned. A robot transverse track is positioned directly above the workpiece conveying frame support mechanism. A cutting robot is mounted on this track, equipped with a torch clamping mechanism. The cutting robot reciprocates along the Y-direction on the robot transverse track, driving the torch to cut the profile raw material into workpieces. A movable workpiece conveying frame mechanism is installed on the workpiece conveying frame support mechanism. This movable mechanism includes a fixed-side workpiece lateral clamping mechanism and a moving-side workpiece lateral clamping mechanism. Multiple workpiece conveying rollers are mounted on the movable workpiece conveying frame mechanism, which in turn convey the workpieces along the X-direction.

[0007] The material fixed-length conveying chuck consists of a material fixed-length conveying chuck positioning and walking mechanism, an upper chuck, a lower chuck, and a drive motor. The upper chuck, lower chuck, and drive motor are all mounted on the material fixed-length conveying chuck positioning and walking mechanism. The upper and lower chucks are driven up and down by hydraulic cylinders to clamp the ends of the profile material. The cutting robot controls the material fixed-length conveying chuck drive motor to move the material fixed-length conveying chuck on the material fixed-length conveying chuck walking track mechanism.

[0008] The fixed-side workpiece lateral clamping mechanism consists of a fixed-side workpiece lateral clamping mechanism connecting frame, a fixed-side workpiece lateral clamping mechanism drive cylinder, and a fixed-side workpiece lateral clamping mechanism clamping head. The fixed-side workpiece lateral clamping mechanism connecting frame is equipped with a fixed-side workpiece lateral clamping mechanism drive cylinder, which is connected to the fixed-side workpiece lateral clamping mechanism clamping head. The fixed-side workpiece lateral clamping mechanism drive cylinder drives the fixed-side workpiece lateral clamping mechanism clamping head to move along the Y direction, and the fixed-side workpiece lateral clamping mechanism clamping head abuts against the workpiece.

[0009] The moving-side workpiece lateral clamping mechanism comprises a long-distance drive cylinder, a connecting frame, a long-distance sliding mechanism, a short-distance drive cylinder, and a clamping head. The connecting frame is equipped with the long-distance drive cylinder and the long-distance sliding mechanism. The long-distance sliding mechanism is equipped with the short-distance drive cylinder and the clamping head. The long-distance drive cylinder drives the... The long-distance sliding mechanism, short-distance driving cylinder, and clamping head of the moving-side workpiece lateral clamping mechanism move along the Y direction on the connecting frame of the moving-side workpiece lateral clamping mechanism. When the long-distance driving cylinder extends, the clamping head moves away from the workpiece. When the long-distance driving cylinder retracts, the rollers on the long-distance sliding mechanism press the workpiece, allowing the workpiece to move along the X direction while being constrained in the Y direction. After the short-distance driving cylinder extends, the clamping head of the moving-side workpiece lateral clamping mechanism abuts against the workpiece, preventing it from moving.

[0010] The workpiece conveyor support mechanism is provided with a workpiece side push mechanism, which is located above the workpiece conveyor roller.

[0011] The workpiece conveyor support mechanism is equipped with a motor for a movable workpiece conveyor mechanism, which is controlled by the cutting robot. This motor drives the movable workpiece conveyor mechanism, causing the fixed-side workpiece lateral clamping mechanism, the moving-side workpiece lateral clamping mechanism, and multiple workpiece conveying rollers to reciprocate in the X direction. The fixed-side and moving-side workpiece lateral clamping mechanisms can cooperate to clamp the workpiece, which passively follows the movable workpiece conveyor mechanism in its reciprocating motion along the X direction. Under these conditions, the workpiece can move in conjunction with the cutting robot to complete the cutting process.

[0012] The cutting robot is wall-mounted on the robot's horizontal track; the cutting robot can drive itself, as well as the robot's horizontal track, the raw material fixed-length conveying chuck drive motor, and the workpiece conveying rack movable mechanism motor.

[0013] This invention is mainly used for cutting the ends and middle holes of profiles. The cutting energy sources can be flame cutting, plasma cutting, and laser cutting.

[0014] The X direction is the length direction of the profile material or workpiece, the Y direction is the horizontal-vertical direction of the length direction of the profile material or workpiece, and the Z direction is the vertical-vertical direction of the length direction of the profile material or workpiece.

[0015] The cutting method of this invention has three modes:

[0016] The first method involves a material-length conveying chuck and a cutting robot working together to complete the cutting operation. The upper and lower chucks of the material-length conveying chuck hold the profile material, and the cutting robot collaborates to cut the end or hole of the workpiece. When the workpiece reaches the position of the fixed-side workpiece lateral clamping mechanism, the fixed-side workpiece lateral clamping mechanism's drive cylinder retracts, the moving-side workpiece lateral clamping mechanism's short-distance drive cylinder retracts, and the moving-side workpiece lateral clamping mechanism's long-distance drive cylinder retracts. The workpiece is constrained by the rollers on the connecting frame of the moving-side workpiece lateral clamping mechanism, preventing movement in the Y direction. This method enables long-distance cutting operations in the X direction.

[0017] The second type involves a cutting robot that completes the cutting operation independently. The workpiece remains stationary while the robot moves alone to cut the ends or holes of the workpiece. This method is primarily used for cutting tasks with shorter paths in the X-direction.

[0018] The third method involves a movable workpiece conveyor mechanism and a cutting robot working together to complete the cutting operation. The upper and lower chucks of the fixed-length material conveyor chuck release and retract to a position away from the cutting robot on the fixed-length material conveyor chuck's travel track mechanism. After the workpiece is clamped by the fixed-side and moving-side workpiece lateral clamping mechanisms, the movable workpiece conveyor mechanism drives the workpiece to move in conjunction with the cutting robot, completing the cutting operation at the end or hole of the workpiece. This method primarily handles the cutting of the end of the raw material.

[0019] A method for cutting profiles without excess material, using the aforementioned profile cutting equipment, includes the following steps:

[0020] When the cutting position is far from the tail end of the profile material, the material fixed-length conveying chuck does not interfere with the cutting torch. The material fixed-length conveying chuck holds the profile material and works with the cutting robot to complete the cutting operation of the end or hole of the workpiece.

[0021] When the cutting position is close to the tail end of the profile material, there is interference between the material fixed-length conveying chuck and the cutting torch. The material fixed-length conveying chuck releases the profile material and returns to the material fixed-length conveying chuck traveling track mechanism away from the cutting robot. After the fixed-side workpiece lateral clamping mechanism and the moving-side workpiece lateral clamping mechanism clamp the workpiece, the movable mechanism of the workpiece conveying frame drives the workpiece to move in combination with the cutting robot to complete the cutting operation of the end or hole of the workpiece.

[0022] The specific steps are as follows:

[0023] A profile material is transferred horizontally onto the material conveying frame via an external feeding device. The material fixed-length conveying chuck moves in the X direction. Upon detecting the profile material, the upper and lower chucks of the material fixed-length conveying chuck clamp the material. According to the cutting task, the profile material is conveyed to the designated position. When the cutting task has a long path in the X direction, the upper and lower chucks of the material fixed-length conveying chuck and the cutting robot cooperate to complete the cutting operation of the workpiece end or hole. When the workpiece reaches the position of the fixed-side workpiece lateral clamping mechanism, the fixed-side workpiece lateral clamping mechanism's drive cylinder retracts, the moving-side workpiece lateral clamping mechanism's short-distance drive cylinder retracts, and the moving-side workpiece lateral clamping mechanism's long-distance drive cylinder retracts. The workpiece is constrained by the rollers on the connecting frame of the moving-side workpiece lateral clamping mechanism, preventing movement in the Y direction. When the cutting task has a short path in the X direction, the workpiece remains stationary, and the cutting robot moves independently to complete the cutting operation of the workpiece end or hole.

[0024] When performing the final task on the cutting profile material, there is interference between the material fixed-length conveying chuck and the cutting torch, making cutting impossible. The workpiece remains stationary, and the cutting robot moves independently to complete the cutting operation of the workpiece end or hole.

[0025] When the workpiece cutting task is completed one by one, the workpiece output operation is carried out. The long-distance drive cylinder of the moving side workpiece lateral clamping mechanism extends, and the workpiece conveying roller drives the workpiece to move in the X direction. When the workpiece reaches the final position, the workpiece side pushing mechanism pushes the workpiece away from the workpiece conveying frame movable mechanism and into the external material frame.

[0026] The beneficial effects of this invention are: it enables zero-waste cutting operations, significantly improving the cutting range of profiles and the utilization rate of raw materials. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a top view of the present invention;

[0029] Figure 3 This is a schematic diagram of the fixed-length material conveying clamp structure of the present invention;

[0030] Figure 4 This is a top view of the fixed-length material conveying clamp of the present invention;

[0031] Figure 5 This is a schematic diagram of the cutting robot structure of the present invention;

[0032] Figure 6This is a schematic diagram of the movable mechanism of the workpiece conveyor frame of the present invention;

[0033] Figure 7 This is a schematic diagram of the workpiece conveying roller structure of the present invention;

[0034] Figure 8 This is a schematic diagram of the fixed-side workpiece lateral clamping mechanism and the moving-side workpiece lateral clamping mechanism of the present invention;

[0035] Figure 9 This is a side view of the fixed-side workpiece lateral clamping mechanism and the moving-side workpiece lateral clamping mechanism of the present invention;

[0036] In the diagram: 1. Raw material fixed-length conveying chuck; 2. Raw material fixed-length conveying chuck traveling track mechanism; 3. Raw material conveying frame; 4. Raw material conveying roller; 5. Cutting torch; 6. Cutting torch clamping mechanism; 7. Cutting robot; 8. Fixed-side workpiece lateral clamping mechanism; 9. Moving-side workpiece lateral clamping mechanism; 10. Robot traverse track; 11. Workpiece side pushing mechanism; 12. Workpiece conveying frame movable mechanism; 13. Workpiece conveying roller; 14. Workpiece conveying frame support mechanism; 15. Raw material fixed-length conveying chuck positioning and traveling mechanism; 16. Raw material fixed-length conveying chuck upper chuck; 17. Raw material fixed-length conveying chuck lower chuck. 17. Raw material fixed-length conveying chuck drive motor; 18. Workpiece conveying frame movable mechanism motor; 19. Fixed-side workpiece lateral clamping mechanism connecting frame; 20. Fixed-side workpiece lateral clamping mechanism drive cylinder; 21. Fixed-side workpiece lateral clamping mechanism clamping head; 22. Moving-side workpiece lateral clamping mechanism long-distance drive cylinder; 23. Moving-side workpiece lateral clamping mechanism connecting frame; 24. Moving-side workpiece lateral clamping mechanism long-distance sliding mechanism; 25. Moving-side workpiece lateral clamping mechanism short-distance drive cylinder; 26. Moving-side workpiece lateral clamping mechanism clamping head; 27. Detailed Implementation

[0037] The invention will be further illustrated below with reference to the accompanying drawings and examples.

[0038] See attached document Figure 1-9A profile cutting device includes a material fixed-length conveying chuck 1, a material fixed-length conveying chuck traveling track mechanism 2, a material conveying frame 3, a material conveying roller 4, a cutting torch 5, a cutting torch clamping mechanism 6, a cutting robot 7, a fixed-side workpiece lateral clamping mechanism 8, a moving-side workpiece lateral clamping mechanism 9, a robot transverse track 10, a workpiece conveying frame movable mechanism 12, a workpiece conveying roller 13, and a workpiece conveying frame support mechanism 14. The material fixed-length conveying chuck 1 is mounted on the material fixed-length conveying chuck traveling track mechanism 2, which is located on the side of the material conveying frame 3. Multiple material conveying rollers 4 are mounted on the material conveying frame 3. The profile material is placed on the material conveying roller 4; the cutting robot 7 controls the material fixed-length conveying chuck 1 to move on the material fixed-length conveying chuck traveling track mechanism 2. After the material fixed-length conveying chuck upper chuck 16 and material fixed-length conveying chuck lower chuck 17 clamp the profile material, the material fixed-length conveying chuck 1 drives the material conveying roller 4 to move back and forth along the X direction to complete the positioning and conveying of the profile material; the material conveying frame 3 and the workpiece conveying frame support mechanism 14 are arranged side by side, and the center lines of the material conveying frame 3 and the workpiece conveying frame support mechanism 14 are on a straight line; the robot transverse track 10 is installed directly above the workpiece conveying frame support mechanism 14, and the cutting robot 7 adopts a wall-mounted... The cutting robot 7 is mounted on the robot's horizontal track 10. A torch clamping mechanism 6 is installed on the cutting robot 7, which clamps the torch 5. The cutting robot 7 reciprocates along the Y-direction on the robot's horizontal track 10, driving the torch 5 to cut the profile material into workpieces. The cutting robot 7 can drive itself, as well as the robot's horizontal track 10, the material fixed-length conveying chuck drive motor 18, and the workpiece conveying frame movable mechanism motor 19. Multiple workpiece conveying rollers 13 are mounted on the workpiece conveying frame movable mechanism 12, and the workpiece conveying rollers 13 drive the workpieces to be conveyed along the X-direction. A fixed-side workpiece lateral clamping mechanism 8 and a moving-side workpiece lateral clamping mechanism 8 are also included. The clamping mechanism 9 is mounted on the movable mechanism 12 of the workpiece conveyor frame, and the movable mechanism 12 of the workpiece conveyor frame is mounted on the support mechanism 14 of the workpiece conveyor frame. The motor 19 of the movable mechanism of the workpiece conveyor frame is mounted on the support mechanism 14 of the workpiece conveyor frame and is controlled by the cutting robot 7. The motor 19 of the movable mechanism of the workpiece conveyor frame can drive the movable mechanism 12 of the workpiece conveyor frame, thereby driving the fixed-side workpiece lateral clamping mechanism 8, the movable-side workpiece lateral clamping mechanism 9 and multiple workpiece conveying rollers 13 to reciprocate in the X direction as a whole. The workpiece conveyor frame support mechanism 14 is provided with a workpiece side pushing mechanism 11 on its side, and the workpiece side pushing mechanism 11 is located above the workpiece conveying rollers 13.

[0039] See attached document Figure 3 , 4The material fixed-length conveying chuck 1 consists of a material fixed-length conveying chuck positioning and walking mechanism 15, an upper material fixed-length conveying chuck 16, a lower material fixed-length conveying chuck 17, and a material fixed-length conveying chuck drive motor 18. The upper material fixed-length conveying chuck 16, the lower material fixed-length conveying chuck 17, and the material fixed-length conveying chuck drive motor 18 are all mounted on the material fixed-length conveying chuck positioning and walking mechanism 15. The upper material fixed-length conveying chuck 16 and the lower material fixed-length conveying chuck 17 are driven up and down by hydraulic cylinders to clamp the ends of the profile material. The cutting robot 7 controls the material fixed-length conveying chuck drive motor 18 to drive the material fixed-length conveying chuck 1 to walk on the material fixed-length conveying chuck walking track mechanism 2.

[0040] See attached document Figure 8 , 9 The fixed-side workpiece lateral clamping mechanism 8 consists of a fixed-side workpiece lateral clamping mechanism connecting frame 20, a fixed-side workpiece lateral clamping mechanism driving cylinder 21, and a fixed-side workpiece lateral clamping mechanism clamping head 22. The fixed-side workpiece lateral clamping mechanism connecting frame 20 is equipped with a fixed-side workpiece lateral clamping mechanism driving cylinder 21, which is connected to the fixed-side workpiece lateral clamping mechanism clamping head 22. When the fixed-side workpiece lateral clamping mechanism driving cylinder 21 drives the fixed-side workpiece lateral clamping mechanism clamping head 22 to move along the Y direction, the fixed-side workpiece lateral clamping mechanism clamping head 22 will abut against the workpiece.

[0041] See attached document Figure 8 , 9The moving-side workpiece lateral clamping mechanism 9 comprises a long-distance driving cylinder 23, a connecting frame 24, a long-distance sliding mechanism 25, a short-distance driving cylinder 26, and a clamping head 27. The connecting frame 24 is equipped with the long-distance driving cylinder 23 and the long-distance sliding mechanism 25. The long-distance sliding mechanism 25 is equipped with the short-distance driving cylinder 26 and the clamping head 27. 3. The long-distance sliding mechanism 25 of the moving side workpiece lateral clamping mechanism, the short-distance driving cylinder 26 of the moving side workpiece lateral clamping mechanism, and the clamping head 27 of the moving side workpiece lateral clamping mechanism move along the Y direction on the connecting frame 24 of the moving side workpiece lateral clamping mechanism. When the long-distance driving cylinder 23 of the moving side workpiece lateral clamping mechanism extends, the clamping head 27 of the moving side workpiece lateral clamping mechanism moves away from the workpiece. When the long-distance driving cylinder 23 of the moving side workpiece lateral clamping mechanism retracts, the rollers on the long-distance sliding mechanism 25 of the moving side workpiece lateral clamping mechanism press the workpiece, and the workpiece can move along the X direction, but is constrained in the Y direction. After the short-distance driving cylinder 26 of the moving side workpiece lateral clamping mechanism extends, the clamping head 27 of the moving side workpiece lateral clamping mechanism abuts against the workpiece, and the workpiece cannot move.

[0042] The fixed-side workpiece lateral clamping mechanism 8 and the moving-side workpiece lateral clamping mechanism 9 can cooperate to clamp the workpiece, and the workpiece passively follows the movable mechanism 12 of the workpiece conveyor to reciprocate along the X direction. In this situation, the workpiece can combine with the cutting robot 7 to complete the cutting of the workpiece.

[0043] This invention is mainly used for cutting the ends and middle holes of profiles. The cutting energy source can be any one of gas, plasma, or laser.

[0044] The X direction is the length direction of the profile material or workpiece, the Y direction is the horizontal-vertical direction of the length direction of the profile material or workpiece, and the Z direction is the vertical-vertical direction of the length direction of the profile material or workpiece.

[0045] The cutting method of this invention has three modes:

[0046] In the first method, the material fixed-length conveying chuck 1 and the cutting robot 7 cooperate to complete the cutting operation. The upper chuck 16 and lower chuck 17 of the material fixed-length conveying chuck hold the profile material. The upper chuck 16, lower chuck 17, and cutting robot 7 work together to cut the end or hole of the workpiece. When the workpiece reaches the position of the fixed-side workpiece lateral clamping mechanism 8, the fixed-side workpiece lateral clamping mechanism drive cylinder 21 retracts, the moving-side workpiece lateral clamping mechanism short-distance drive cylinder 26 retracts, and the moving-side workpiece lateral clamping mechanism long-distance drive cylinder 23 retracts. The workpiece is constrained by the rollers on the moving-side workpiece lateral clamping mechanism connecting frame 24, preventing movement in the Y direction. This method enables long-distance cutting operations in the X direction.

[0047] The second method involves the cutting robot 7 performing the cutting operation independently. The workpiece remains stationary, while the cutting robot 7 moves alone to cut the ends or holes of the workpiece. This method is primarily used for cutting operations with shorter paths in the X direction.

[0048] The third method involves the workpiece conveyor movable mechanism 12 and the cutting robot 7 cooperating to complete the cutting operation. The upper chuck 16 and lower chuck 17 of the material fixed-length conveyor chuck release and return to a position away from the cutting robot 7 on the material fixed-length conveyor chuck traveling track mechanism 2. After the workpiece is clamped by the fixed-side workpiece lateral clamping mechanism 8 and the moving-side workpiece lateral clamping mechanism 9, the workpiece conveyor movable mechanism 12 can drive the workpiece to move in conjunction with the cutting robot 7, completing the cutting operation of the workpiece end or hole. This mainly completes the cutting operation at the end of the raw material.

[0049] A method for cutting profiles without excess material, using the aforementioned profile cutting equipment, includes the following steps:

[0050] When the cutting position is far from the tail end of the profile material, the material fixed length conveying chuck 1 and the cutting torch (gas, plasma, laser) 5 do not interfere. The material fixed length conveying chuck 1 holds the profile material and drives the profile material to move. The workpiece conveying frame movable mechanism 12 is far away from the working space of the cutting robot. The material fixed length conveying chuck 1 and the cutting robot 7 cooperate to complete the cutting operation of the end or hole of the workpiece.

[0051] When the cutting position is close to the tail end of the profile material, there is interference between the material fixed-length conveying chuck 1 and the cutting torch (gas, plasma, laser) 5. The material fixed-length conveying chuck 1 releases the profile material and returns to the material fixed-length conveying chuck traveling track mechanism 2 away from the cutting robot 7. After the fixed-side workpiece lateral clamping mechanism 8 and the moving-side workpiece lateral clamping mechanism 9 clamp the workpiece, the workpiece conveying frame movable mechanism 12 drives the workpiece to move in conjunction with the cutting robot 7 to complete the cutting operation of the end or hole of the workpiece.

[0052] This operating method allows for cutting operations with no leftover material.

[0053] The specific steps are as follows:

[0054] A profile material is transferred horizontally onto the material conveying frame 3 via an external feeding device. The material fixed-length conveying chuck 1 moves in the X direction. Upon detecting the profile material, the upper chuck 16 and the lower chuck 17 of the material fixed-length conveying chuck 1 clamp the profile material. According to the cutting task, the profile material is conveyed to the designated position. When the cutting task has a long path in the X direction, the first cutting mode is used for cutting. The upper chuck 16, the lower chuck 17 of the material fixed-length conveying chuck, and the cutting robot 7 cooperate to complete the end or hole of the workpiece. The cutting operation is performed as follows: When the workpiece arrives at the position of the fixed-side workpiece lateral clamping mechanism 8, the fixed-side workpiece lateral clamping mechanism drive cylinder 21 retracts, the moving-side workpiece lateral clamping mechanism short-distance drive cylinder 26 retracts, and the moving-side workpiece lateral clamping mechanism long-distance drive cylinder 23 retracts. The workpiece is constrained by the rollers on the moving-side workpiece lateral clamping mechanism connecting frame 24 to prevent movement in the Y direction. When the cutting task has a short path in the X direction, the second cutting mode is used for cutting. The workpiece remains stationary, and the cutting robot 7 moves independently to complete the cutting operation of the end or hole of the workpiece.

[0055] When the last task of cutting the last workpiece on the profile material is completed, there is interference between the material fixed-length conveying chuck 1 and the cutting torch (gas, plasma, laser) 5, making cutting impossible. In this case, the second cutting mode is used to cut the workpiece. The workpiece does not move, and the cutting robot 7 moves alone to complete the cutting operation of the end or hole of the workpiece.

[0056] When the workpiece cutting task is completed one by one, the workpiece output operation is carried out. The long-distance drive cylinder 23 of the moving side workpiece side clamping mechanism extends, and the workpiece conveying roller 13 drives the workpiece to move in the X direction. When the workpiece reaches the final position, the workpiece side pushing mechanism 11 pushes the workpiece away from the workpiece conveying frame movable mechanism 12 and enters the external material frame.

[0057] The raw material fixed-length conveying chuck 1 and the workpiece conveying frame movable mechanism 12 of the present invention can each cooperate with the cutting robot 7 to expand the cutting range in the X direction.

[0058] The cutting robot 7 of the present invention can move on the robot transverse track 10, which expands the cutting range of the cutting robot in the Y direction.

[0059] The fixed-length material conveying chuck 1 and the movable mechanism 12 of the workpiece conveying frame are positioned alternately, providing the equipment foundation for cutting without excess material.

[0060] This invention can be applied to scenarios and fields such as shipyards and offshore platforms where profiles need to be cut.

[0061] The profiles mentioned in this embodiment refer to straight strip structures formed by plastic cutting of metal, possessing a certain cross-sectional shape and a length dimension much larger than the cross-sectional dimension. This embodiment does not impose specific limitations on the cross-sectional shape and length dimension of the profiles. In the shipbuilding industry, the profiles mentioned in this embodiment include flat steel, equal angle steel, unequal angle steel, and bulb flat steel.

[0062] This invention uses a cutting robot to drive a cutting torch (gas, plasma, or laser) to cut a single raw material profile (flat steel, equal-sided angle steel, unequal-sided angle steel, and bulb flat steel) into multiple workpieces. Each workpiece's cutting task includes processing various ends and intermediate holes, and can simultaneously process bevels required for welding. The system consists of a raw material length conveying chuck, a cutting robot, a robot traverse track, and a movable workpiece conveyor mechanism. The raw material length conveying chuck, robot traverse track, and movable workpiece conveyor mechanism are controlled by the cutting robot and can work collaboratively with it, significantly improving the profile cutting range and raw material utilization.

[0063] The cutting robot 7 is a general-purpose six-axis robot, with no brand restrictions. The cutting robot operation includes a combined operation of the robot's six axes and the horizontal axis.

[0064] In collaborative operations, the cutting robot body can only perform angular and vertical movements, i.e., vertical movements along the length of the profile. The movable mechanism of the material-length conveying chuck or workpiece conveyor rack drives the profile, achieving reciprocating motion along its length. The robot's transverse track drives the cutting robot to complete the movement along the width of the profile. The cutting range is independent of the robot body's range of motion, thus expanding the cutting range of the profile.

[0065] This invention offers three operating modes, expanding the cutting range of profiles. By changing the clamping position, a method for cutting profiles with no excess material is achieved. This equipment can significantly improve the cutting range and material utilization rate of profiles.

Claims

1. A profile cutting device, characterized in that: The system includes a fixed-length material conveying chuck (1), a fixed-length material conveying chuck traveling track mechanism (2), a material conveying frame (3), a material conveying roller (4), a cutting torch (5), a cutting torch clamping mechanism (6), a cutting robot (7), a fixed-side workpiece lateral clamping mechanism (8), a moving-side workpiece lateral clamping mechanism (9), a robot traverse track (10), a workpiece conveying frame movable mechanism (12), a workpiece conveying roller (13), and a workpiece conveying frame support mechanism (14). The fixed-length material conveying chuck (1) is installed on the fixed-length material conveying chuck traveling track mechanism (2), which is located on the side of the material conveying frame (3). The material conveying frame (3) is equipped with multiple material conveying rollers (4), and profile raw materials are placed on the material conveying rollers (4). The cutting robot (7) controls the fixed-length material conveying chuck (1) to travel on the fixed-length material conveying chuck traveling track mechanism (2), and the fixed-length material conveying chuck (1) drives the material conveying rollers (4) to reciprocate along the X direction to complete the profile raw material movement. The positioning and conveying; the raw material conveying frame (3) and the workpiece conveying frame support mechanism (14) are arranged side by side, and the center lines of the raw material conveying frame (3) and the workpiece conveying frame support mechanism (14) are on a straight line; a robot horizontal track (10) is set directly above the workpiece conveying frame support mechanism (14), the cutting robot (7) is installed on the robot horizontal track (10), the cutting robot (7) is provided with a torch clamping mechanism (6), the torch clamping mechanism (6) clamps the torch (5), the cutting robot (7) moves back and forth along the Y direction on the robot horizontal track (10), and drives the torch (5) to cut the profile raw material to form a workpiece; a workpiece conveying frame movable mechanism (12) is installed on the workpiece conveying frame support mechanism (14), a fixed side workpiece lateral clamping mechanism (8) and a moving side workpiece lateral clamping mechanism (9) are installed on the workpiece conveying frame movable mechanism (12), and multiple workpiece conveying rollers (13) are provided on the workpiece conveying frame movable mechanism (12), the workpiece conveying rollers (13) drive the workpiece to be conveyed along the X direction; The fixed-side workpiece lateral clamping mechanism (8) consists of a fixed-side workpiece lateral clamping mechanism connecting frame (20), a fixed-side workpiece lateral clamping mechanism driving cylinder (21), and a fixed-side workpiece lateral clamping mechanism clamping head (22). The fixed-side workpiece lateral clamping mechanism connecting frame (20) is provided with a fixed-side workpiece lateral clamping mechanism driving cylinder (21). The fixed-side workpiece lateral clamping mechanism driving cylinder (21) is connected to the fixed-side workpiece lateral clamping mechanism clamping head (22). The fixed-side workpiece lateral clamping mechanism driving cylinder (21) drives the fixed-side workpiece lateral clamping mechanism clamping head (22) to move along the Y direction. The fixed-side workpiece lateral clamping mechanism clamping head (22) abuts against the workpiece. The moving-side workpiece lateral clamping mechanism (9) consists of a long-distance driving cylinder (23), a connecting frame (24), a long-distance sliding mechanism (25), a short-distance driving cylinder (26), and a clamping head (27). The connecting frame (24) is equipped with the long-distance driving cylinder (23) and the long-distance sliding mechanism (25). The long-distance sliding mechanism (25) is equipped with the short-distance driving cylinder (26) and the clamping head (27). The long-distance driving cylinder (23) drives the long-distance sliding mechanism (25) and the short-distance driving cylinder (26) and the clamping head (27). The cylinder (26) and the clamping head (27) of the moving side workpiece lateral clamping mechanism move along the Y direction on the connecting frame (24) of the moving side workpiece lateral clamping mechanism; when the long-distance driving cylinder (23) of the moving side workpiece lateral clamping mechanism extends, the clamping head (27) of the moving side workpiece lateral clamping mechanism moves away from the workpiece; when the long-distance driving cylinder (23) of the moving side workpiece lateral clamping mechanism retracts, the roller on the long-distance sliding mechanism (25) of the moving side workpiece lateral clamping mechanism presses the workpiece, and the workpiece can move along the X direction, while the Y direction is constrained; after the short-distance driving cylinder (26) of the moving side workpiece lateral clamping mechanism extends, the clamping head (27) of the moving side workpiece lateral clamping mechanism abuts against the workpiece, and the workpiece cannot move; the fixed side workpiece lateral clamping mechanism (8) and the moving side workpiece lateral clamping mechanism (9) cooperate to complete the workpiece clamping, and the workpiece passively follows the movable mechanism (12) of the workpiece conveyor to perform reciprocating motion along the X direction, and combines with the cutting robot (7) to complete the cutting of the workpiece.

2. The profile cutting equipment according to claim 1, characterized in that: The material fixed-length conveying chuck (1) consists of a material fixed-length conveying chuck positioning and walking mechanism (15), a material fixed-length conveying chuck upper chuck (16), a material fixed-length conveying chuck lower chuck (17), and a material fixed-length conveying chuck drive motor (18). The material fixed-length conveying chuck upper chuck (16), the material fixed-length conveying chuck lower chuck (17), and the material fixed-length conveying chuck drive motor (18) are all mounted on the material fixed-length conveying chuck positioning and walking mechanism (15). The material fixed-length conveying chuck upper chuck (16) and the material fixed-length conveying chuck lower chuck (17) are driven up and down by hydraulic cylinders to clamp the ends of the profile material. The cutting robot (7) drives the material fixed-length conveying chuck (1) to walk on the material fixed-length conveying chuck walking track mechanism (2) by controlling the material fixed-length conveying chuck drive motor (18).

3. A profile cutting device according to claim 1 or 2, characterized in that: The workpiece conveying frame support mechanism (14) is provided with a workpiece side push mechanism (11) on its side, and the workpiece side push mechanism (11) is located above the workpiece conveying roller (13).

4. A profile cutting device according to claim 1 or 2, characterized in that: The workpiece conveyor support mechanism (14) is equipped with a workpiece conveyor movable mechanism motor (19), which is controlled by the cutting robot (7). The workpiece conveyor movable mechanism motor (19) can drive the workpiece conveyor movable mechanism (12), which in turn drives the fixed-side workpiece lateral clamping mechanism (8), the moving-side workpiece lateral clamping mechanism (9), and multiple workpiece conveying rollers (13) to reciprocate in the X direction.

5. A profile cutting device according to claim 1 or 2, characterized in that: The cutting robot (7) is mounted on the robot's horizontal track (10) in a wall-mounted manner.

6. A method for cutting profiles without excess material, using the profile cutting equipment described in any one of claims 1-5, characterized in that... It includes the following steps: When the cutting position is far from the tail end of the profile material, the material fixed length conveying chuck (1) and the cutting torch (5) do not interfere with each other. The material fixed length conveying chuck (1) holds the profile material. The material fixed length conveying chuck (1) and the cutting robot (7) cooperate to complete the cutting operation of the end or hole of the workpiece. When the cutting position is close to the tail end of the profile material, there is interference between the material fixed length conveying chuck (1) and the cutting torch (5). The material fixed length conveying chuck (1) releases the profile material and returns to the material fixed length conveying chuck walking track mechanism (2) away from the cutting robot (7). After the fixed side workpiece lateral clamping mechanism (8) and the moving side workpiece lateral clamping mechanism (9) clamp the workpiece, the workpiece conveying frame movable mechanism (12) drives the workpiece to move in combination with the cutting robot (7) to complete the cutting operation of the end or hole of the workpiece.

7. A method for cutting without excess material according to claim 6, characterized in that... The specific steps are as follows: A profile material is transferred to the material conveying frame (3) by an external feeding device. The material fixed-length conveying chuck (1) moves in the X direction. When the profile material is detected, the upper chuck (16) and the lower chuck (17) of the material fixed-length conveying chuck (1) clamp the profile material. According to the cutting task, the profile material is conveyed to the designated position. When the cutting task has a long path in the X direction, the upper chuck (16), the lower chuck (17), and the cutting robot (7) cooperate to complete the end of the workpiece. Or the cutting operation of the hole; when the workpiece arrives at the position of the fixed side workpiece lateral clamping mechanism (8), the fixed side workpiece lateral clamping mechanism drive cylinder (21) retracts, the moving side workpiece lateral clamping mechanism short distance drive cylinder (26) retracts, the moving side workpiece lateral clamping mechanism long distance drive cylinder (23) retracts, the workpiece is constrained by the rollers on the moving side workpiece lateral clamping mechanism connecting frame (24) to avoid movement in the Y direction; when the cutting task has a short path in the X direction, the workpiece does not move, and the cutting robot (7) moves alone to complete the cutting operation of the end or hole of the workpiece; When the last task is to cut the profile material, there is interference between the material fixed-length conveying chuck (1) and the cutting torch (5), and the cutting cannot be carried out. The workpiece does not move, and the cutting robot (7) moves alone to complete the cutting operation of the end or hole of the workpiece. When the workpiece cutting task is completed one by one, the workpiece output operation is carried out. The long-distance drive cylinder (23) of the moving side workpiece side clamping mechanism extends, and the workpiece conveying roller (13) drives the workpiece to move in the X direction. When the workpiece reaches the final position, the workpiece side push mechanism (11) pushes the workpiece away from the workpiece conveying frame movable mechanism (12) and enters the external material frame.

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