Programmable thickness-adaptive steel plate cutting robot and control method thereof

Abstract

The invention relates to the technical field of cutting robots, in particular to a programmable thickness-adaptive steel plate cutting robot and a control method thereof.The programmable thickness-adaptive steel plate cutting robot comprises a workbench and an integrated controller, the integrated controller is fixedly connected to the top end of the workbench, a mechanical arm is fixedly connected to the top end of the workbench, and a driving assembly is fixedly connected to one side of the mechanical arm; a clamping assembly is fixedly connected to the top end of the workbench, a supporting arm assembly is installed on the inner side of the driving assembly, a side thickness assembly is fixedly connected to the bottom end of the supporting arm assembly, the inner side of the clamping assembly is attached to the outer side of the steel plate body, the driving assembly comprises an inner hole shell, a movable channel is formed in the inner side of the inner hole shell, and a first servo motor is fixedly connected to the top end of the inner hole shell. According to the steel plate thickness measuring device, the thickness of a steel plate is determined through the relation between resistance and current, errors possibly caused by physical measurement are avoided, and the consistency and accuracy of the cutting depth are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of cutting robots, in particular to a programmable and adaptive thickness steel plate cutting robot and a control method thereof. Background Art

[0002] The programmable adaptive thickness steel plate cutting robot is a highly automated industrial robot that has the ability to self-adjust to adapt to steel plate materials of different thicknesses and perform precise cutting operations. It can automatically identify changes in material thickness and adjust cutting parameters such as speed, pressure and power in real time to ensure the accuracy and efficiency of the cutting process. It is widely used in industries such as shipbuilding, construction, automobile manufacturing and heavy machinery. The programmable adaptive thickness steel plate cutting robot significantly improves production efficiency and processing quality through its flexibility and reliability. Laser cutting of steel plates is an efficient metal processing technology. It uses a high-power laser beam to quickly heat the material to vaporization, forming continuous holes and moving the beam along a predetermined path to form a narrow slit, achieving high-precision automatic cutting. With the help of appropriate auxiliary gas, this process not only has a small slit width and limited heat-affected area, but also maintains the original properties of the material. In the process of laser cutting steel plates of different thicknesses, if the specific thickness of the steel plate cannot be detected in real time, it will be difficult to accurately adjust the required laser power and cutting speed, resulting in the inability to ensure the consistency and accuracy of the cutting depth. Therefore, a programmable adaptive thickness steel plate cutting robot and its control method are proposed to address the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a programmable and adaptive thickness steel plate cutting robot and a control method thereof, so as to solve the problem that in the process of laser cutting steel plates of different thicknesses, if the specific thickness of the steel plate cannot be detected in real time, it will be difficult to accurately adjust the required laser power and cutting speed, resulting in the inability to ensure the consistency and accuracy of the cutting depth.

[0004] To achieve the above object, the present invention provides the following technical solutions: A programmable self-adaptive thickness steel plate cutting robot and a control method thereof, comprising a workbench and an integrated controller, wherein the top of the workbench is fixedly connected to the integrated controller, the top of the workbench is fixedly connected to a mechanical arm, one side of the mechanical arm is fixedly connected to a driving assembly, the top of the workbench is fixedly connected to a clamping assembly, an arm assembly is installed on the inner side of the driving assembly, a side thickness assembly is fixedly connected to the bottom end of the arm assembly, the inner side of the clamping assembly is fitted with the outer side of a steel plate body, the driving assembly comprises an inner hole shell, a movable path is provided on the inner side of the inner hole shell, a first servo motor is fixedly connected to the top of the inner hole shell, a double-threaded rod is fixedly connected to the end of the main shaft of the first servo motor, a sliding column rod is fixedly connected to the inner side of the inner hole shell, the arm assembly comprises a perforated arm, one side of the perforated arm is fixedly connected to an operating panel, and a ring path is provided at the lower end of the operating panel. The inner side of the annular track opened by the operating disk is fixedly connected with a gear ring, the inner side of the annular track opened by the operating disk is rotatably connected with a limiting ring, the bottom end of the operating disk is fixedly connected with a laser cutting head, the inner side of the limiting ring is opened with a rear through groove, the inner side of the rear through groove opened by the limiting ring is fixedly connected with a second servo motor, the end of the main shaft of the second servo motor is fixedly connected with a gear, the side thickness component includes a detection housing, the inner side of the detection housing is opened with a space groove, the inner side of the front end of the space groove opened by the detection housing is fixedly connected with a resistance wire, the upper end of the space groove opened by the detection housing is fixedly connected with a straight spring, the upper end of the space groove opened by the detection housing is fixedly connected with a soft electric wire, the bottom end of the straight spring is fixedly connected with a double-column slide rod, the front end of the double-column slide rod is fixedly connected with an electric connector, the inner side of the lower end of the double-column slide rod is fitted with the outer side of the steel ball.

[0005] As a further optimization content of the present invention, wherein: the integrated controller is electrically connected to the robotic arm, the integrated controller is electrically connected to the first servo motor, the negative pole of the integrated controller is electrically connected through a soft wire and an electrical connector, and the positive pole of the integrated controller is electrically connected to the resistance wire.

[0006] As a further optimization content of the present invention, the front end of the inner hole shell is fixedly connected to the rear end of the mechanical arm, the movable path runs through the rear end of the inner hole shell, the upper and lower ends of the double-threaded rod are rotatably connected to the inner side of the movable path opened in the inner hole shell through bearings, the outer side of the double-threaded rod is spirally connected to the inner side of the left end of the arm with a hole, the outer side of the sliding column rod is slidably connected to the inner side of the right end of the arm with a hole, and the front end of the arm with a hole is on the inner side of the movable path opened in the inner hole shell.

[0007] As further optimized content of the present invention, the clamping assembly includes an outer frame, an electric telescopic rod is fixedly connected to the inner side of the outer frame, a folding plate is fixedly connected to one side of the electric telescopic rod, a rubber block is fixedly connected to one side of the folding plate, a through threaded hole is opened on the inner side of the upper end of the folding plate, a threaded rotating rod is spirally connected to the inner side of the through threaded hole opened in the folding plate, the outer side of the lower end of the threaded rotating rod is rotatably connected to a pressure plate through a bearing, and the top of the pressure plate is fixedly connected to the telescopic rod.

[0008] As further optimized content of the present invention, the bottom end of the outer frame is fixedly connected to the top end of the workbench, there are four electric telescopic rods, four mounting holes are opened on the inner side of the outer frame, a groove is opened on the inner side of one end of the electric telescopic rod, the lower end of the steel plate body is fitted with the inner side of the rubber block, the top end of the steel plate body is fitted with the bottom end of the pressure plate, the top end of the telescopic rod is fixedly connected to one side of the upper end of the folding plate, and the inner side of the upper end of the outer frame is hollow.

[0009] As further optimized content of the present invention, wherein: the number of the arms with holes is two, a threaded hole and a straight hole are opened on the inner side of the front end of the arm with holes, the shape of the arm with holes is a rectangular body, the shape of the operating panel is a cylinder, the annular channel runs through the lower part of the operating panel, and the shape of the annular channel when viewed from the right is T-shaped.

[0010] As a further optimization content of the present invention, the shape of the limiting ring is two sections of a cylinder, the rear through groove of the limiting ring passes through the upper end of the limiting ring, the outer side of the gear is meshed with the outer side of the gear ring, the gear is located inside the limiting ring, the rear end of the gear protrudes from the rear end of the limiting ring, and the bottom end of the limiting ring is fixedly connected to the top end of the detection housing.

[0011] As a further optimization of the present invention, a cylindrical through hole is opened on the inner side of the lower end of the detection housing, the opening shape of the space groove is a rectangular body at both ends, the bottom end of the soft wire is fixedly connected to the top end of the double-column sliding rod, and the soft wire is inside the straight spring.

[0012] As further optimized content of the present invention, the double-column slide rod is shaped like two sections of cylinders, the double-column slide rod is slidably connected to the inner side of the space groove opened in the detection housing, the electric connector is at the front end of the space groove, the front end of the electric connector is fitted with the rear end of the resistance wire, a ball groove is opened on the inner side of the lower end of the double-column slide rod, the steel ball is shaped like a sphere, and the outer side of the steel ball is fitted with one side of the steel plate body.

[0013] A control method for a programmable and adaptive thickness steel plate cutting robot. S1: To detect the thickness of the steel plate body in real time and ensure the cutting depth of the steel plate body, fix the steel plate body inside the clamping assembly, and place the two arms with holes at the upper and lower ends of the steel plate body respectively through the mechanical arm, start the first servo motor to drive the double-threaded rod to rotate, the double-threaded rod is rotatably connected to the inner side of the inner hole shell, and the outer side of the double-threaded rod is provided with threads at both ends, and the rotation of the double-threaded rod drives the two arms with holes connected by the outer spiral connection to move inside the movable track, and according to the thread shape of the double-threaded rod, the arms with holes move close to or away from each other at the same time, and the inner side of the arm with holes is slidably connected to the outer side of the sliding column rod, and the movement of the arm with holes drives the movement of the operating panel, and the movement of the operating panel drives the movement of the limit ring connected to the inner side through the annular track, and the movement of the limit ring drives the overall movement of the side thickness assembly, and when the outer sides of the two steel balls are simultaneously fitted with the upper and lower ends of the steel plate body, the steel balls drive the double-column sliding rod fitted on the outer side to move to the inner side of the space groove opened in the detection housing, and the movement of the double-column sliding rod squeezes the straight spring, and the movement of the double-column sliding rod drives the flexible wire to bend , the soft wire belongs to the soft wire, the movement of the double-column slide bar drives the electric connector fixedly connected on one side to move, the integrated controller, the soft wire, the electric connector and the resistance wire form a loop, the upper end of the resistance wire is connected to the positive pole of the integrated controller through the wire, the voltage inside the integrated controller is constant, when the electric connector moves upward, the resistance between the integrated controller, the soft wire, the electric connector and the resistance wire gradually decreases, and the current gradually increases. The current change of this loop is detected by the integrated controller to determine the distance the electric connector and the double-column slide bar move upward. The moving distance of the double-column slide bar and the electric connector is proportional to the current of this loop. The longer the moving distance of the double-column slide bar, the greater the current of this loop. When the laser cutting head moves to one end of the steel plate body, the first servo motor is stopped at this time, the centers of the two operating disks are on the same vertical line, and the centers of the two steel balls are on the same vertical plane. By calculating the moving distance of the two double-column slide bars, the thickness of this area of ​​the steel plate body is determined, and the laser cutting head and the mechanical arm are controlled by the integrated controller to achieve precise cutting of the steel plate body; S2: When realizing the small-range rapid adjustment of the detection position of the side thickness component, the second servo motor is started to drive the gear to rotate, and the outer side of the gear is meshed with the gear ring, and the gear ring is annularly fixed inside the annular track opened on the operating panel. Under the action of the meshing of the gear ring and the gear, the second servo motor drives the limit ring to rotate, and the limit ring is rotated and connected to the inner side of the annular track opened on the operating panel. The rotation of the limit ring drives the side thickness component fixed at the lower end to rotate as a whole. At this time, the outer side of the steel ball rolls on the upper or lower end of the steel plate body, and the side thickness component at the lower end is rotated away from the above, so that the centers of the two steel balls are on the same vertical line, thereby moving the two side thickness components to the area to be cut on the steel plate body, and detecting the thickness of the steel plate body in advance; S3: When fixing steel plate bodies of different sizes, the steel plate bodies are prevented from being inside the outer frame. First, the electric telescopic rods at the front and rear ends are started. The two electric telescopic rods drive the folding plates to move respectively. When the inside of the folding plates and the rubber blocks move to the outside of the front end or the outside of the rear end of the steel plate bodies, the threaded rotating rod is spirally connected to the inner side of the through threaded hole opened in the folding plates. The threaded rotating rod moves downward when it rotates. The threaded rotating rod drives the pressure plate connected at the lower end to move downward. A rubber sheet is fixed to the lower end of the pressure plate. When the rubber block and the pressure plate fix the steel plate body, the pressure plate moves and drives the telescopic rod to extend. The telescopic rod plays a role in limiting the moving direction of the pressure plate. With the cooperation of the pressure plate and the rubber block, the front and rear ends of the steel plate body are fixed. The left and right ends of the steel plate body are fixed according to the above principle. The position of the steel plate body inside the outer frame is determined by the moving distance of the four electric telescopic rods.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, by setting the mechanical arm, the support arm assembly and the side thickness assembly, the device uses the relationship between resistance and current to determine the distance that the electric connector and the double-column slide rod move upward. This method provides a non-contact accurate measurement method, avoiding the error that may be introduced by physical measurement. Through accurate thickness detection and automatic cutting depth adjustment, it reduces the material waste caused by excessive or insufficient cutting, and ensures the consistency and accuracy of the cutting depth. 2. In the present invention, by providing a second servo motor, a gear ring and a gear, the device realizes a small-range rapid adjustment of the side thickness component at the detection position. This adjustment mechanism makes the detection and cutting process more flexible and can quickly respond to the cutting requirements at different positions; 3. In the present invention, by setting the electric telescopic rod, rubber block, threaded rotating rod and telescopic rod, the steel plates of different sizes can be firmly fixed. The rubber sheet design at the lower end of the pressure plate protects the surface of the steel plate during the fixing process to avoid damage. At the same time, the precise position of the steel plate inside the outer frame can be determined. This positioning mechanism facilitates precise cutting and ensures the accuracy of cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the mechanical arm of the present invention; Figure 3 This is a schematic diagram of the outer frame structure of the present invention; Figure 4 It is a schematic diagram of the folding plate structure of the present invention; Figure 5 This is a schematic diagram of the structure of the drive assembly of the present invention; Figure 6 This is a schematic diagram of the structure of the arm with holes of the present invention; Figure 7 This is a schematic diagram of the gear ring structure of the present invention; Figure 8 It is a schematic diagram of the structure of the side thickness component of the present invention.

[0016] In the figure: 1. Workbench; 2. Integrated controller; 3. Robotic arm; 4. driving assembly; 41. inner hole shell; 42. movable track; 43. first servo motor; 44. double threaded rod; 45. sliding column rod; 5. Clamping assembly; 51. Outer frame; 52. Electric telescopic rod; 53. Folding plate; 54. Rubber block; 55. Threaded rotating rod; 56. Pressure plate; 57. Telescopic rod; 58. Through threaded hole; 6. Support arm assembly; 61. Arm with holes; 62. Operation panel; 63. Ring road; 64. Gear ring; 65. Laser cutting head; 66. Limiting ring; 67. Second servo motor; 68. Gear; 69. Rear through slot; 7. Side thickness assembly; 71. Detection housing; 72. Spatial groove; 73. Resistance wire; 74. Straight spring; 75. Soft wire; 76. Double-column slide bar; 77. Electric connector; 78. Steel ball; 8. Steel plate body. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0019] See also Figure 1-8 , the present invention provides a technical solution: A programmable self-adaptive thickness steel plate cutting robot and a control method thereof, comprising a workbench 1 and an integrated controller 2, wherein the top of the workbench 1 is fixedly connected to the integrated controller 2, the top of the workbench 1 is fixedly connected to a mechanical arm 3, one side of the mechanical arm 3 is fixedly connected to a driving component 4, the top of the workbench 1 is fixedly connected to a clamping component 5, an arm assembly 6 is installed on the inner side of the driving component 4, a side thickness component 7 is fixedly connected to the bottom end of the arm assembly 6, the inner side of the clamping component 5 is in contact with the outer side of a steel plate body 8, the driving component 4 comprises an inner hole shell 41, an inner side of the inner hole shell 41 is provided with a movable path 42, the top of the inner hole shell 41 is fixedly connected to a first servo motor 43, the end of the main shaft of the first servo motor 43 is fixedly connected to a double-threaded rod 44, the inner side of the inner hole shell 41 is fixedly connected to a sliding column rod 45, the arm assembly 6 comprises a perforated arm 61, one side of the perforated arm 61 is fixedly connected to an operating panel 62, the lower end of the operating panel 62 is provided with a ring path 63, and the ring path 62 is provided with a A gear ring 64 is fixedly connected to the inner side of 63, a limiting ring 66 is rotatably connected to the inner side of the annular path 63 provided in the operating disk 62, a laser cutting head 65 is fixedly connected to the bottom end of the operating disk 62, a rear through groove 69 is provided on the inner side of the limiting ring 66, a second servo motor 67 is fixedly connected to the inner side of the rear through groove 69 provided in the limiting ring 66, a gear 68 is fixedly connected to the end of the main shaft of the second servo motor 67, the side thickness component 7 includes a detection housing 71, a space groove 72 is provided on the inner side of the detection housing 71, a resistance wire 73 is fixedly connected to the inner side of the front end of the space groove 72 provided in the detection housing 71, a straight spring 74 is fixedly connected to the upper end of the space groove 72 provided in the detection housing 71, a soft wire 75 is fixedly connected to the upper end of the space groove 72 provided in the detection housing 71, a double-column slide rod 76 is fixedly connected to the bottom end of the straight spring 74, an electric connector 77 is fixedly connected to the front end of the double-column slide rod 76, and the inner side of the lower end of the double-column slide rod 76 is fitted with the outer side of the steel ball 78.

[0020] As a further implementation of the present solution, the integrated controller 2 is electrically connected to the robot arm 3, the integrated controller 2 is electrically connected to the first servo motor 43, the negative electrode of the integrated controller 2 is electrically connected to the electrical connector 77 through the soft wire 75, and the positive electrode of the integrated controller 2 is electrically connected to the resistance wire 73, which ensures the accuracy and real-time performance of the equipment control. This design allows the integrated controller 2 to uniformly manage and adjust the electrical components related to cutting, thereby improving the convenience of operation and the accuracy of control. As a further implementation of the present scheme, the front end of the inner hole shell 41 is fixedly connected to the rear end of the mechanical arm 3, the movable path 42 runs through the rear end of the inner hole shell 41, the upper and lower ends of the double-threaded rod 44 are rotatably connected to the inner side of the movable path 42 opened in the inner hole shell 41 through bearings, the outer side of the double-threaded rod 44 is spirally connected to the inner side of the left end of the hole arm 61, the outer side of the sliding column rod 45 is slidably connected to the inner side of the right end of the hole arm 61, and the front end of the hole arm 61 is located on the inner side of the movable path 42 opened in the inner hole shell 41. The fixed connection of the rear end of the inner hole shell 41 and the penetration design of the movable path 42, combined with the bearing rotation connection of the upper and lower ends of the double-threaded rod 44, provide a stable rotation structure, which not only ensures the stability of rotation, but also improves the mechanical life and durability. As a further implementation of the present scheme, the clamping assembly 5 includes an outer frame 51, an electric telescopic rod 52 is fixedly connected to the inner side of the outer frame 51, a folding plate 53 is fixedly connected to one side of the electric telescopic rod 52, a rubber block 54 is fixedly connected to one side of the folding plate 53, a through threaded hole 58 is provided on the inner side of the upper end of the folding plate 53, a threaded rotating rod 55 is spirally connected to the inner side of the through threaded hole 58 provided in the folding plate 53, a pressure plate 56 is rotatably connected to the outer side of the lower end of the threaded rotating rod 55 through a bearing, a telescopic rod 57 is fixedly connected to the top of the pressure plate 56, the bottom end of the outer frame 51 is fixedly connected to the top of the workbench 1, and the electric telescopic rod 52 is fixedly connected to the inner side of the upper end of the folding plate 53. There are four of them. Four mounting holes are provided on the inner side of the outer frame 51. A groove is provided on the inner side of one end of the electric telescopic rod 52. The lower end of the steel plate body 8 is fitted with the inner side of the rubber block 54. The top of the steel plate body 8 is fitted with the bottom of the pressure plate 56. The top of the telescopic rod 57 is fixedly connected to one side of the upper end of the folding plate 53. The inner side of the upper end of the outer frame 51 is hollow, which realizes the flexible adjustment and precise positioning of the steel plate body 8. The fixed connection of the telescopic rod 57 at the top of the pressure plate 56 further enhances the stability of positioning and effectively prevents damage to the surface of the material. This protective structure prolongs the service life of the material and ensures the cutting quality. As a further implementation of the present scheme, there are two perforated arms 61, a threaded hole and a straight hole are provided on the inner side of the front end of the perforated arm 61, the shape of the perforated arm 61 is a rectangular body, the shape of the operating panel 62 is a cylinder, the annular channel 63 runs through the lower part of the operating panel 62, the shape of the annular channel 63 when viewed from the right is T-shaped, the shape of the limiting ring 66 is two sections of a cylinder, the rear through groove 69 of the limiting ring 66 runs through the upper end of the limiting ring 66, the outer side of the gear 68 is meshed with the outer side of the gear ring 64, the gear 68 is inside the limiting ring 66, the rear end of the gear 68 protrudes from the rear end of the limiting ring 66, and the bottom end of the limiting ring 66 is fixedly connected to the top end of the detection housing 71, providing a multifunctional integrated mechanical design, which allows the equipment to adapt to different cutting requirements, improves cutting efficiency and adaptability, and realizes precise rotation and adjustment. The protruding design of the rear end of the gear 68 further improves the flexibility and accuracy of adjustment; As a further implementation of this solution, a cylindrical through hole is opened on the inner side of the lower end of the detection housing 71, and the opening shape of the space groove 72 is a rectangular body at both ends. The bottom end of the soft wire 75 is fixedly connected to the top of the double-column slide bar 76, and the soft wire 75 is inside the straight spring 74. The double-column slide bar 76 is in the shape of two sections of a cylinder. The double-column slide bar 76 is slidably connected to the inner side of the space groove 72 opened in the detection housing 71. The electric connector 77 is at the front end of the space groove 72, and the front end of the electric connector 77 is in contact with the rear end of the resistance wire 73. A ball groove is provided on the inner side of the lower end of 76, and the steel ball 78 is in the shape of a sphere. The outer side of the steel ball 78 fits with one side of the steel plate body 8, which optimizes the utilization of the internal space. This design allows a more compact mechanical layout, reduces the space occupied by the equipment, and realizes precise cutting depth control. The spherical shape of the steel ball 78 and the fit with one side of the steel plate body 8 further improve the cutting accuracy. Through constant voltage and changing current, non-contact detection of the steel plate thickness is realized. This detection method improves the measurement accuracy and response speed.

[0021] Workflow: Real-time detection of the thickness of the steel plate body 8 is achieved to ensure that the cutting depth of the steel plate body 8 is guaranteed, the steel plate body 8 is fixed inside the clamping assembly 5, and the two perforated arms 61 are respectively located at the upper and lower ends of the steel plate body 8 through the mechanical arm 3, and the first servo motor 43 is started to drive the double-threaded rod 44 to rotate, and the double-threaded rod 44 is rotatably connected to the inner side of the inner hole shell 41 to improve the stability of the double-threaded rod 44 during rotation. The outer side of the double-threaded rod 44 is provided with threads at both ends, and the rotation of the double-threaded rod 44 drives the two perforated arms 61 spirally connected on the outer side to move inside the movable channel 42. According to the thread shape of the double-threaded rod 44, the perforated arms 61 move closer or farther away at the same time, and the inner side of the perforated arm 61 is slidably connected to the outer side of the sliding column rod 45, which plays a role in limiting the moving direction of the perforated arm 61. The movement of the hole arm 61 drives the operation plate 62 to move, the movement of the operation plate 62 drives the inner rotationally connected limit ring 66 to move through the annular path 63, and the movement of the limit ring 66 drives the side thickness component 7 to move as a whole. Figure 8To express it, when the outer sides of the two steel balls 78 are simultaneously fitted with the upper and lower ends of the steel plate body 8, the steel balls 78 drive the double-column slide bar 76 that is fitted on the outer side to move toward the inner side of the space groove 72 opened in the detection housing 71, and the double-column slide bar 76 moves to squeeze the straight spring 74. Under the elastic force of the straight spring 74, the double-column slide bar 76 is kept moving in the direction of sliding out of the detection housing 71. The movement of the double-column slide bar 76 drives the flexible wire 75 to bend. The flexible wire 75 is a flexible wire and does not affect the normal movement of the double-column slide bar 76. The movement of the double-column slide bar 76 drives the electric connector 77 fixedly connected on one side to move, and the integrated controller 2, the flexible wire 75, and the electric connector 77 are connected. 7 and the resistance wire 73 form a loop, the upper end of the resistance wire 73 is connected to the positive electrode of the integrated controller 2 through the wire, the voltage inside the integrated controller 2 is constant, when the electric connector 77 moves upward, the resistance between the integrated controller 2, the soft wire 75, the electric connector 77 and the resistance wire 73 gradually decreases, and the current gradually increases. The integrated controller 2 detects the current change of this loop, thereby determining the upward movement distance of the electric connector 77 and the double-column slide bar 76. The movement distance of the double-column slide bar 76 and the electric connector 77 is proportional to the current of this loop. The longer the movement distance of the double-column slide bar 76 is, the greater the current of this loop is. Figure 8 , and then Figure 5 and Figure 7 To describe, when the laser cutting head 65 moves to one end of the steel plate body 8, the first servo motor 43 is stopped, the centers of the two operating disks 62 are on the same vertical line, and the centers of the two steel balls 78 are on the same vertical plane. By calculating the moving distance of the two double-column slide bars 76, the thickness of this area of ​​the steel plate body 8 is determined, thereby achieving the effect of real-time detection of the thickness of the steel plate body 8. The laser cutting head 65 and the mechanical arm 3 are controlled by the integrated controller 2 to achieve the precise cutting effect of the steel plate body 8, ensuring the consistency and accuracy of the cutting depth; When realizing the small-range rapid adjustment of the detection position of the side thickness component 7, the second servo motor 67 is started to drive the gear 68 to rotate, and the outer side of the gear 68 is meshed with the ring gear 64, and the ring gear 64 is annularly fixed inside the annular path 63 opened on the operating panel 62. Under the action of the meshing of the ring gear 64 and the gear 68, the second servo motor 67 drives the limit ring 66 to rotate, and the limit ring 66 is rotatably connected to the inner side of the annular path 63 opened on the operating panel 62. The rotation of the limit ring 66 drives the side thickness component 7 fixed at the lower end to rotate as a whole. At this time, the outer side of the steel ball 78 rolls on the upper or lower end of the steel plate body 8, and the side thickness component 7 away from the lower end is rotating, so that the centers of the two steel balls 78 are on the same vertical line, so that the two side thickness components 7 are moved to the area to be cut of the steel plate body 8, and the thickness of the steel plate body 8 is detected in advance to ensure the cutting progress of the steel plate body 8. When fixing the steel plate body 8 of different sizes, the steel plate body 8 is prevented from being placed inside the outer frame 51, and the electric telescopic rods 52 at the front and rear ends are first started. The two electric telescopic rods 52 drive the folding plate 53 to move respectively. When the inside of the folding plate 53 and the rubber block 54 move to the outside of the front end or the outside of the rear end of the steel plate body 8, the threaded rotating rod 55 is rotated. The threaded rotating rod 55 is spirally connected to the inner side of the through threaded hole 58 opened in the folding plate 53. When the threaded rotating rod 55 is rotated, it moves downward, and the threaded rotating rod 55 drives the pressure plate 56 connected to the lower end to move downward. The lower end of the pressure plate 56 is fixed with a rubber sheet, and the rubber block 54 When the pressure plate 56 is fixed to the steel plate body 8, damage to the surface of the steel plate body 8 can be prevented. The movement of the pressure plate 56 drives the telescopic rod 57 to extend. The telescopic rod 57 serves to limit the moving direction of the pressure plate 56. With the cooperation of the pressure plate 56 and the rubber block 54, the front and rear ends of the steel plate body 8 are fixed. Through the above principle, the left and right ends of the steel plate body 8 are fixed, and the position of the steel plate body 8 inside the outer frame 51 is determined by the moving distance of the four electric telescopic rods 52, so as to facilitate the precise cutting of the steel plate body 8 through the integrated controller 2.

[0022] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A programmable and adaptive thickness steel plate cutting robot, comprising a workbench (1) and an integrated controller (2), characterized in that: The top of the workbench (1) is fixedly connected to an integrated controller (2), the top of the workbench (1) is fixedly connected to a mechanical arm (3), one side of the mechanical arm (3) is fixedly connected to a driving assembly (4), the top of the workbench (1) is fixedly connected to a clamping assembly (5), an arm assembly (6) is installed on the inner side of the driving assembly (4), the bottom end of the arm assembly (6) is fixedly connected to a side thickness assembly (7), and the inner side of the clamping assembly (5) is in contact with the outer side of the steel plate body (8); The drive assembly (4) comprises an inner hole shell (41), a movable path (42) is provided inside the inner hole shell (41), a first servo motor (43) is fixedly connected to the top end of the inner hole shell (41), a double threaded rod (44) is fixedly connected to the end of the main shaft of the first servo motor (43), a sliding column rod (45) is fixedly connected to the inside of the inner hole shell (41), the arm assembly (6) comprises a hole arm (61), an operating panel (62) is fixedly connected to one side of the hole arm (61), a ring path (63) is provided at the lower end of the operating panel (62), a gear ring (64) is fixedly connected to the inside of the ring path (63) provided by the operating panel (62), a limiting circular ring (66) is rotatably connected to the inside of the ring path (63) provided by the operating panel (62), a laser cutting head (65) is fixedly connected to the bottom end of the operating panel (62), and a rear through groove (69) is provided inside the limiting circular ring (66). ), a second servo motor (67) is fixedly connected to the inner side of the rear through groove (69) opened in the limit ring (66), a gear (68) is fixedly connected to the end of the main shaft of the second servo motor (67), the side thickness component (7) comprises a detection housing (71), a space groove (72) is opened on the inner side of the detection housing (71), a resistance wire (73) is fixedly connected to the inner side of the front end of the space groove (72) opened in the detection housing (71), a straight spring (74) is fixedly connected to the upper end of the space groove (72) opened in the detection housing (71), a soft wire (75) is fixedly connected to the upper end of the space groove (72) opened in the detection housing (71), a double-column slide rod (76) is fixedly connected to the bottom end of the straight spring (74), an electric connector (77) is fixedly connected to the front end of the double-column slide rod (76), and the inner side of the lower end of the double-column slide rod (76) is in contact with the outer side of the steel ball (78).

2. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: The integrated controller (2) is electrically connected to the robot arm (3), the integrated controller (2) is electrically connected to the first servo motor (43), the negative pole of the integrated controller (2) is electrically connected to the electrical connector (77) via a flexible wire (75), and the positive pole of the integrated controller (2) is electrically connected to the resistance wire (73).

3. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: The front end of the inner hole shell (41) is fixedly connected to the rear end of the mechanical arm (3); the movable path (42) passes through the rear end of the inner hole shell (41); the upper and lower ends of the double-threaded rod (44) are rotatably connected to the inner side of the movable path (42) opened in the inner hole shell (41) through bearings; the outer side of the double-threaded rod (44) is spirally connected to the inner side of the left end of the hole arm (61); the outer side of the sliding column rod (45) is slidably connected to the inner side of the right end of the hole arm (61); and the front end of the hole arm (61) is located on the inner side of the movable path (42) opened in the inner hole shell (41).

4. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: The clamping assembly (5) comprises an outer frame (51), an electric telescopic rod (52) is fixedly connected to the inner side of the outer frame (51), a folding plate (53) is fixedly connected to one side of the electric telescopic rod (52), a rubber block (54) is fixedly connected to one side of the folding plate (53), a through threaded hole (58) is provided on the inner side of the upper end of the folding plate (53), a threaded rotating rod (55) is spirally connected to the inner side of the through threaded hole (58) provided in the folding plate (53), a pressure plate (56) is rotatably connected to the outer side of the lower end of the threaded rotating rod (55) via a bearing, and a telescopic rod (57) is fixedly connected to the top end of the pressure plate (56).

5. A programmable and adaptive thickness steel plate cutting robot according to any one of claims 1 and 4, characterized in that: The bottom end of the outer frame (51) is fixedly connected to the top end of the workbench (1); the number of the electric telescopic rods (52) is four; four mounting holes are provided on the inner side of the outer frame (51); a groove is provided on the inner side of one end of the electric telescopic rod (52); the lower end of the steel plate body (8) is fitted with the inner side of the rubber block (54); the top end of the steel plate body (8) is fitted with the bottom end of the pressure plate (56); the top end of the telescopic rod (57) is fixedly connected to one side of the upper end of the folding plate (53); and the inner side of the upper end of the outer frame (51) is hollow.

6. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: There are two perforated arms (61), the inner side of the front end of each perforated arm (61) is provided with a threaded hole and a straight hole, the perforated arm (61) is in the shape of a rectangular body, the operating panel (62) is in the shape of a cylinder, the annular channel (63) passes through the lower part of the operating panel (62), and the annular channel (63) is in the shape of a T when viewed from the right.

7. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: The limiting ring (66) is in the shape of two sections of a cylinder. The rear through groove (69) of the limiting ring (66) passes through the upper end of the limiting ring (66). The outer side of the gear (68) meshes with the outer side of the gear ring (64). The gear (68) is located inside the limiting ring (66). The rear end of the gear (68) protrudes from the rear end of the limiting ring (66). The bottom end of the limiting ring (66) is fixedly connected to the top end of the detection housing (71).

8. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: A cylindrical through hole is provided on the inner side of the lower end of the detection housing (71); the spatial groove (72) is provided in the shape of a rectangular body at both ends; the bottom end of the flexible wire (75) is fixedly connected to the top end of the double-column slide bar (76); and the flexible wire (75) is located inside the straight spring (74).

9. The programmable and adaptive thickness steel plate cutting robot according to claim 1, characterized in that: The double-column slide bar (76) is in the shape of two sections of a cylinder. The double-column slide bar (76) is slidably connected to the inner side of a space groove (72) provided in the detection housing (71). The electric connector (77) is located at the front end of the space groove (72). The front end of the electric connector (77) is in contact with the rear end of the resistance wire (73). A ball groove is provided on the inner side of the lower end of the double-column slide bar (76). The steel ball (78) is in the shape of a sphere. The outer side of the steel ball (78) is in contact with one side of the steel plate body (8).

10. A control method for a programmable and adaptive thickness steel plate cutting robot according to any one of claims 1 to 9, characterized in that: S1: To detect the thickness of the steel plate body (8) in real time and ensure that the cutting depth of the steel plate body (8) is guaranteed, the steel plate body (8) is fixed inside the clamping assembly (5), and the two perforated arms (61) are respectively located at the upper end and the lower end of the steel plate body (8) through the mechanical arm (3), and the first servo motor (43) is started to drive the double-threaded rod (44) to rotate, and the double-threaded rod (44) is rotatably connected to the inner side of the inner hole shell (41), and the outer side of the double-threaded rod (44) is provided with threads at both ends. The double-threaded rod (44) rotates to drive the two perforated arms (61) connected to the outer side spirally to move inside the movable path (42), and according to the thread shape of the double-threaded rod (44), when the perforated arms (61) move When the two steel balls (78) are moved close to or away from each other at the same time, the inner side of the hole arm (61) is slidably connected to the outer side of the sliding column rod (45), the movement of the hole arm (61) drives the operation panel (62) to move, the operation panel (62) moves through the annular path (63) to drive the inner side rotationally connected limit ring (66) to move, the movement of the limit ring (66) drives the side thickness component (7) to move as a whole, when the outer sides of the two steel balls (78) are simultaneously attached to the upper and lower ends of the steel plate body (8), the steel balls (78) drive the outer side of the double column sliding rod (76) to move toward the inner side of the space groove (72) opened in the detection housing (71), the double column sliding rod (76) moves to squeeze the straight spring (74), and the movement of the double column sliding rod (76) drives the soft electric The wire (75) is bent, the soft wire (75) is a soft wire, the double-column slide bar (76) moves to drive the electric connector (77) fixedly connected on one side to move, the integrated controller (2), the soft wire (75), the electric connector (77) and the resistance wire (73) form a loop, the upper end of the resistance wire (73) is connected to the positive electrode of the integrated controller (2) through the wire, the voltage inside the integrated controller (2) is constant, when the electric connector (77) moves upward, the resistance between the integrated controller (2), the soft wire (75), the electric connector (77) and the resistance wire (73) gradually decreases, and the current gradually increases. The integrated controller (2) detects the current change in this loop, thereby determining whether the electric connector (77) and the double-column slide bar are connected. The distance that the rod (76) moves upward, the moving distance of the double-column slide bar (76) and the electric connector (77) are proportional to the current of this circuit. The longer the moving distance of the double-column slide bar (76), the greater the current of this circuit. When the laser cutting head (65) moves to one end of the steel plate body (8), the first servo motor (43) is stopped, the centers of the two operating disks (62) are on the same vertical line, and the centers of the two steel balls (78) are on the same vertical plane. By calculating the moving distance of the two double-column slide bars (76), the thickness of this area of ​​the steel plate body (8) is determined. Then, the laser cutting head (65) and the mechanical arm (3) are controlled by the integrated controller (2) to achieve accurate cutting of the steel plate body (8); S2: When the detection position of the side thickness component (7) is adjusted quickly within a small range, the second servo motor (67) is started to drive the gear (68) to rotate, and the outer side of the gear (68) is meshed with the ring gear (64). The ring gear (64) is annularly fixed inside the annular track (63) provided on the operating panel (62). Under the action of the meshing of the ring gear (64) and the gear (68), the second servo motor (67) drives the limit ring (66) to rotate, and the limit ring (66) is connected to the operating panel (62) by rotation. On the inner side of the annular path (63) formed on the work plate (62), the limiting ring (66) rotates to drive the side thickness component (7) fixed at the lower end to rotate as a whole, and at this time, the outer side of the steel ball (78) rolls on the upper end or the lower end of the steel plate body (8), and the side thickness component (7) at the lower end is rotated away from the upper end, so that the centers of the two steel balls (78) are on the same vertical line, thereby moving the two side thickness components (7) to the area of ​​the steel plate body (8) to be cut, and detecting the thickness of the steel plate body (8) in advance; S3: When fixing the steel plate bodies (8) of different sizes, the steel plate bodies (8) are prevented from being placed inside the outer frame (51), and the electric telescopic rods (52) at the front and rear ends are first started. The two electric telescopic rods (52) respectively drive the folding plates (53) to move. When the inside of the folding plates (53) and the rubber blocks (54) move to the outside of the front end or the outside of the rear end of the steel plate body (8), the threaded rotating rod (55) is spirally connected to the inside of the through threaded hole (58) opened in the folding plate (53). When the threaded rotating rod (55) rotates, it moves downward, and the threaded rotating rod (55) drives the pressure plate (56) connected at the lower end to move downward. A rubber sheet is fixed at the lower end of the pressure plate (56). When the rubber block (54) and the pressure plate (56) are fixing the steel plate body (8), the pressure plate (56) moves to drive the telescopic rod (57) to extend. The telescopic rod (57) serves to limit the moving direction of the pressure plate (56). With the cooperation of the pressure plate (56) and the rubber block (54), the front and rear ends of the steel plate body (8) are fixed. By using the above principle, the left and right ends of the steel plate body (8) are fixed. The position of the steel plate body (8) inside the outer frame (51) is determined by the moving distance of the four electric telescopic rods (52).

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