Manipulator laser cutting device

Abstract

The invention discloses a manipulator laser cutting device which comprises a rotary positioner, the two sides of the rotary positioner are each provided with a manipulator, a laser cutting machine is installed on the manipulators, a turnover fixing mechanism is installed on the rotary positioner, and the turnover fixing mechanism comprises a fixing frame. A plurality of outer clamping assemblies, inner clamping assemblies, outer limiting assemblies and inner limiting assemblies are installed on the fixing frame. When a ceiling body workpiece which is a part with certain shape and size requirements is machined, the positioning assemblies are matched with one another, the workpiece can be fixed to the accurate position, the error range can be controlled within a very small interval, the machining precision is guaranteed, and the machining efficiency is improved.

Description

Technical Field

[0001] The invention relates to a cutting device, in particular to a robot laser cutting device. Background Art

[0002] SMC composite material is a kind of glass fiber reinforced plastic, and its main raw materials are composed of special yarn, filler and various additives. After the main body of the SMC molded plastic agricultural machinery roof is made, it is necessary to cut holes in the main structure of the SMC molded plastic roof, and the required holes such as round holes, waist holes, square holes and special-shaped holes will be cut.

[0003] Manual cutting relies on operators to use hand-held tools (such as electric saws, manual drills and other traditional instruments), which makes it difficult to control the stable force and precise trajectory, resulting in rough cutting edges and large dimensional deviations. Especially for SMC composite materials, which have different textures and require high processing precision, it is easy to have irregular circumferences when cutting round holes, and the roundness error exceeds ±1mm; when cutting waist holes and square holes, the accuracy of key dimensions such as side length and spacing fluctuates by more than ±2mm. Special-shaped holes are difficult to accurately trace by hand due to their complex contours, and defects such as "missing corners" and "burrs" frequently appear, seriously affecting the strength and aesthetics of the ceiling structure. Summary of the invention

[0004] In view of the problems mentioned in the background technology, the purpose of the present invention is to provide a robot laser cutting device to solve the problems mentioned in the background technology.

[0005] The above technical objectives of the present invention are achieved through the following technical solutions:

[0006] A robot laser cutting device includes a rotary positioner, with a robot provided on each side of the rotary positioner, a laser cutting machine installed on the robot, a flipping and fixing mechanism installed on the rotary positioner, and the flipping and fixing mechanism includes a fixed frame, and a plurality of external clamping components, an internal clamping component, an external limit component and an internal limit component are installed on the fixed frame.

[0007] The fixed frame includes a fixed outer frame, the short side of the fixed outer frame is connected to the rotary positioner, and the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod and the seventh support rod are fixed in sequence in the fixed outer frame parallel to the short side, and the eighth support rod and the ninth support rod are fixed in parallel to the long side.

[0008] The external clamping assembly includes an external clamping base and an external lever cylinder. The external clamping base is a Z-shaped plate structure. The bottom plate of the external clamping base is used to fix the external lever cylinder. The top plate of the external clamping base cooperates with the external pressure rod of the external lever cylinder for clamping. There are four external clamping assemblies, two of which are detachably fixed on the first support rod, and the other two are detachably fixed on the seventh support rod.

[0009] The inner clamping assembly includes an inner clamping base and an inner rotating clamping cylinder, and the inner rotating clamping cylinder is fixed on the inner clamping base; the number of the inner clamping assemblies is four, two of which are detachably fixed on the second support rod, and the other two are detachably fixed on the fifth support rod.

[0010] The outer limiting assembly includes four outer positioning plates installed on the long sides of the fixed outer frame, and the outer positioning plates are L-shaped plates.

[0011] The inner limit assembly includes two inner positioning columns, and the inner positioning columns include a positioning base plate and a plug-in column vertically fixed on the positioning base plate. The positioning base plate is installed between the fourth support rod and the fifth support rod.

[0012] A group of relatively arranged lofting limiters and two groups of relatively arranged positioning blocks are also provided on the long side of the fixed outer frame, and a positioning groove is provided on the top of the positioning block.

[0013] An auxiliary positioning assembly is also fixed on the eighth support rod and the ninth support rod, and the auxiliary positioning assembly is arranged between the fifth support rod and the sixth support rod; the auxiliary positioning assembly includes an auxiliary positioning rod, on which an auxiliary limiting piece is provided, and an auxiliary baffle is respectively provided on both sides of the auxiliary limiting piece, and the auxiliary baffle is an inclined circular plate.

[0014] The control method of the present invention is:

[0015] 1. Workpiece placement and preliminary positioning stage

[0016] (1) Workpiece placement:

[0017] Place the main ceiling workpiece on the fixed frame, place the auxiliary positioning assembly under the workpiece, and use the auxiliary positioning assembly to provide preliminary support and rough positioning for the workpiece.

[0018] (2) Frame positioning:

[0019] Position the outer frame of the workpiece through the external limit assembly, observe the relative position of the outer frame of the workpiece and the four external positioning plates (L-shaped plates), ensure that the outer frame of the workpiece fits the corresponding edges of the external positioning plates, and achieve preliminary positioning of the outer frame in the horizontal direction.

[0020] (3) Inner hole positioning:

[0021] Move the workpiece so that the plug-in column of the inner positioning column of the inner limit assembly passes through the inner hole of the workpiece, ensuring that the plug-in column can be smoothly inserted into the inner hole and the insertion depth is appropriate, so as to achieve preliminary positioning of the workpiece in the vertical direction.

[0022] 2. Workpiece clamping and fixing stage

[0023] (1) Internal clamping operation:

[0024] The inner rotating clamping cylinder of the inner clamping assembly is started, and the inner rotating clamping cylinder starts to work, and its inner pressure rod is gradually pressed on the inner frame of the workpiece.

[0025] (2) External clamping operation:

[0026] Then, the outer lever cylinder of the outer clamping assembly is started, and the outer pressure rod of the outer lever cylinder cooperates with the top plate of the outer clamping base under the action of air pressure to clamp the workpiece.

[0027] 3. Flipping and processing stage

[0028] (1) Flip operation:

[0029] After the workpiece is firmly fixed on the flipping and fixing mechanism by the inner and outer clamping components and the limit components, the rotary positioner is started; according to the processing requirements, the workpiece is accurately flipped by controlling the rotation angle and rotation speed of the rotary positioner.

[0030] (2) Laser cutting operation:

[0031] When the workpiece is flipped to the specified angle, the laser cutting machine is driven to move by controlling the manipulator. According to the pre-set processing path, hole position and other information, the manipulator is accurately controlled to make the cutting head of the laser cutting machine accurately align with the different hole types at different positions on the workpiece that need to be processed. Then the laser cutting machine is started to perform laser cutting on the workpiece according to the set cutting parameters.

[0032] 4. Processing completion and workpiece removal stage

[0033] (1) Confirmation of processing completion:

[0034] When the laser cutting process is completed, the processed workpiece is inspected to confirm that all the hole shapes and other parts that need to be processed have met the processing requirements.

[0035] (2) Workpiece loosening and removal:

[0036] First, stop the laser cutting machine, then close the outer lever cylinder of the outer clamping assembly to release the outer pressure rod from clamping the workpiece, and then close the inner rotary clamping cylinder of the inner clamping assembly to release the inner pressure rod from the inner frame of the workpiece;

[0037] After the inner and outer clamps of the workpiece have been released, the workpiece is removed from the fixed frame to complete the entire processing process.

[0038] The present invention has the following beneficial effects:

[0039] (1) The flipping and fixing mechanism of the present invention has multiple positioning components. The outer positioning plate of the outer limit component can accurately position the outer frame of the workpiece in the horizontal direction, and the inner positioning column of the inner limit component can position the inner hole of the workpiece in the vertical direction. When processing the ceiling main body workpiece, which has certain shape and size requirements, these positioning components cooperate with each other to fix the workpiece in a precise position, and the error range can be controlled within a very small range.

[0040] (2) The inner clamping assembly and the outer clamping assembly of the present invention can firmly fix the workpiece. The coordinated work of the inner rotary clamping cylinder and the outer lever cylinder can provide a suitable clamping force according to the shape and size of the workpiece, ensuring that the workpiece will not be displaced during the processing, and effectively improving the dimensional accuracy and shape accuracy of the processing parts such as the cutting hole type.

[0041] (3) The manipulators respectively arranged on both sides of the rotary positioner of the present invention can work simultaneously or alternately, which greatly improves the processing efficiency.

[0042] (4) The rotary positioner of the present invention can quickly and accurately flip the workpiece. In this way, when processing a workpiece with multiple faces or different angles, the workpiece can be quickly adjusted to a suitable processing angle, and cooperated with a robot and a laser cutting machine for efficient processing, thus avoiding the large amount of time consumed in re-clamping and adjusting the workpiece in traditional processing methods.

[0043] (5) The various components on the fixed frame of the present invention are detachable and adjustable. The outer clamping components and the inner clamping components can be adjusted in position or replaced with components of different specifications according to the sizes and shapes of different workpieces. For different types of ceiling main workpieces, whether they are round, square or other special-shaped structures, they can be effectively fixed through appropriate adjustments, thereby expanding the scope of application of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 It is a schematic diagram of the structure of the present invention;

[0045] Figure 2 It is a structural schematic diagram of the flipping and fixing mechanism of the present invention;

[0046] Figure 3 It is a schematic structural diagram of the outer clamping assembly of the present invention;

[0047] Figure 4 It is a schematic diagram of the structure of the inner stop assembly and the inner stop assembly of the present invention;

[0048] Figure 5 It is a structural schematic diagram of the auxiliary positioning group of the present invention.

[0049] Reference numerals:

[0050] Rotary positioner 1, manipulator 2, flipping and fixing mechanism 3, fixed frame 4, outer clamping assembly 5, inner clamping assembly 6, outer limit assembly 7, inner limit assembly 8, lofting limit piece 9, positioning block 10, auxiliary positioning assembly 11, workpiece 12, short side 401, long side 402, first support rod 403, second support rod 404, third support rod 405, fourth support rod 406, fifth support rod 407, sixth support rod 408, seventh support rod 409, eighth support rod 410, ninth support rod 411, outer clamping base 501, outer lever cylinder 502, inner clamping base 601, inner rotary clamping cylinder 602, outer positioning plate 701, positioning base plate 801, plug-in column 802, positioning groove 1001, auxiliary positioning rod 1101, auxiliary limit piece 1102, auxiliary baffle 1103. DETAILED DESCRIPTION

[0051] Embodiment 1

[0052] refer to Figures 1 to 5 The robot laser cutting device described in this embodiment includes a rotary positioner 1, a robot 2 is provided on each side of the rotary positioner, a laser cutting machine is installed on the robot, a flipping and fixing mechanism 3 is installed on the rotary positioner, and the flipping and fixing mechanism includes a fixed frame 4, and a plurality of external clamping components 5, an internal clamping component 6, an external limit component 7 and an internal limit component 8 are installed on the fixed frame.

[0053] The fixed frame includes a fixed outer frame, a short side 401 of the fixed outer frame is connected to the rotary positioner, and a first support rod 403, a second support rod 404, a third support rod 405, a fourth support rod 406, a fifth support rod 407, a sixth support rod 408 and a seventh support rod 409 are fixed in sequence in the fixed outer frame in parallel with the short side, and an eighth support rod 410 and a ninth support rod 411 are fixed in parallel with the long side 402.

[0054] The external clamping assembly includes an external clamping base 501 and an external lever cylinder 502. The external clamping base is a Z-shaped plate structure. The bottom plate of the external clamping base is used to fix the external lever cylinder. The top plate of the external clamping base cooperates with the external pressure rod of the external lever cylinder for clamping. There are four external clamping assemblies, two of which are detachably fixed on the first support rod, and the other two are detachably fixed on the seventh support rod.

[0055] The inner clamping assembly includes an inner clamping base 601 and an inner rotating clamping cylinder 602, and the inner rotating clamping cylinder is fixed on the inner clamping base; the number of the inner clamping assemblies is four, two of which are detachably fixed on the second support rod, and the other two are detachably fixed on the fifth support rod.

[0056] The outer limiting assembly includes four outer positioning plates 701 installed on the long sides of the fixed outer frame, and the outer positioning plates are L-shaped plates.

[0057] The inner limit assembly includes two inner positioning columns, and the inner positioning columns include a positioning base plate 801 and a plug-in column 802 vertically fixed on the positioning base plate. The positioning base plate is installed between the fourth support rod and the fifth support rod.

[0058] A set of relatively arranged lofting limit members 9 and two sets of relatively arranged positioning blocks 10 are also provided on the long side of the fixed outer frame, and a positioning groove 1001 is provided on the top of the positioning block.

[0059] An auxiliary positioning assembly 11 is also fixed on the eighth support rod and the ninth support rod, and the auxiliary positioning assembly is arranged between the fifth support rod and the sixth support rod; the auxiliary positioning assembly includes an auxiliary positioning rod 1101, on which an auxiliary limiting piece 1102 is provided, and an auxiliary baffle 1103 is respectively provided on both sides of the auxiliary limiting piece, and the auxiliary baffle is a circular plate arranged obliquely.

[0060] The control method of the present invention is:

[0061] 1. Workpiece placement and preliminary positioning stage

[0062] (1) Workpiece placement:

[0063] The main ceiling workpiece is placed on the fixed frame, and the auxiliary positioning assembly is placed under the workpiece 12. The auxiliary positioning assembly is used to provide preliminary support and rough positioning for the workpiece.

[0064] (2) Frame positioning:

[0065] Position the outer frame of the workpiece through the external limit assembly, observe the relative position of the outer frame of the workpiece and the four external positioning plates (L-shaped plates), ensure that the outer frame of the workpiece fits the corresponding edges of the external positioning plates, and achieve preliminary positioning of the outer frame in the horizontal direction.

[0066] (3) Inner hole positioning:

[0067] Move the workpiece so that the plug-in column of the inner positioning column of the inner limit assembly passes through the inner hole of the workpiece, ensuring that the plug-in column can be smoothly inserted into the inner hole and the insertion depth is appropriate, so as to achieve preliminary positioning of the workpiece in the vertical direction.

[0068] 2. Workpiece clamping and fixing stage

[0069] (1) Internal clamping operation:

[0070] The inner rotating clamping cylinder of the inner clamping assembly is started, and the inner rotating clamping cylinder starts to work, and its inner pressure rod is gradually pressed on the inner frame of the workpiece.

[0071] (2) External clamping operation:

[0072] Then, the outer lever cylinder of the outer clamping assembly is started, and the outer pressure rod of the outer lever cylinder cooperates with the top plate of the outer clamping base under the action of air pressure to clamp the workpiece.

[0073] 3. Flipping and processing stage

[0074] (1) Flip operation:

[0075] After the workpiece is firmly fixed on the flipping and fixing mechanism by the inner and outer clamping components and the limit components, the rotary positioner is started; according to the processing requirements, the workpiece is accurately flipped by controlling the rotation angle and rotation speed of the rotary positioner.

[0076] (2) Laser cutting operation:

[0077] When the workpiece is flipped to the specified angle, the laser cutting machine is driven to move by controlling the manipulator. According to the pre-set processing path, hole position and other information, the manipulator is accurately controlled to make the cutting head of the laser cutting machine accurately align with the different hole types at different positions on the workpiece that need to be processed. Then the laser cutting machine is started to perform laser cutting on the workpiece according to the set cutting parameters.

[0078] 4. Processing completion and workpiece removal stage

[0079] (1) Confirmation of processing completion:

[0080] When the laser cutting process is completed, the processed workpiece is inspected to confirm that all the hole shapes and other parts that need to be processed have met the processing requirements.

[0081] (2) Workpiece loosening and removal:

[0082] First, stop the laser cutting machine, then close the outer lever cylinder of the outer clamping assembly to release the outer pressure rod from clamping the workpiece, and then close the inner rotary clamping cylinder of the inner clamping assembly to release the inner pressure rod from the inner frame of the workpiece;

[0083] After the inner and outer clamps of the workpiece have been released, the workpiece is removed from the fixed frame to complete the entire processing process.

[0084] Embodiment 2

[0085] As a further supplement to Example 1, in this embodiment, the PLC controller and the sensors cooperate to achieve automatic detection:

[0086] A clamping position feedback sensor is configured for the inner rotating clamping cylinder and connected to the input point X1 of the PLC controller to detect whether the inner pressure rod reaches the predetermined clamping position. When the clamping position is reached, the sensor outputs a high level signal to the PLC.

[0087] A clamping position feedback sensor is configured for the external lever cylinder and connected to the input point X2 of the PLC controller. Similarly, the clamping state of the external pressure rod and the top plate of the external clamping base is fed back.

[0088] A rotary angle encoder is configured for the rotary positioner, and its signal is connected to the input points X3-X5 of the PLC controller to provide real-time feedback on the current rotation angle information of the rotary positioner.

[0089] Contact sensors are configured at the outer positioning plate and inner positioning column. The four sensors on the outer positioning plate are connected to the input points X6-X9 of the PLC controller, and the inner positioning column is connected to the input points X10-X11 of the PLC controller. Once the workpiece contacts the limit assembly and reaches the correct positioning state, the corresponding sensor outputs a signal to the PLC controller.

[0090] The output point Y1 of the PLC controller is connected to the control solenoid valve of the internal rotating clamping cylinder, which controls the opening and closing of the solenoid valve by outputting electrical signals, thereby controlling the clamping and releasing actions of the cylinder.

[0091] The control solenoid valve of the external lever cylinder is connected to the output point Y2 of the PLC controller to achieve similar control.

[0092] The driving motor controller of the rotary positioner is connected to the output point PLC controller Y3-Y6, which controls the forward rotation, reverse rotation, speed adjustment and braking functions of the motor respectively, and accurately regulates the rotation action of the rotary positioner.

[0093] After the workpiece is accurately positioned, the PLC outputs a signal to the control solenoid valve of the inner rotating clamping cylinder (Y1 is energized), starting the clamping action of the inner rotating clamping cylinder. The clamping force is controlled by the "proportional-integral-differential (PID)" algorithm, with the pressure sensor feedback value (connected to another input point of the PLC and converted into a pressure value P 实际 ) as the feedback value. The pressure value corresponding to the preset target clamping force is P 目标 , the PID algorithm formula is as follows:

[0094]

[0095] Where u(t) is the control output value (affecting the cylinder pressure and thus changing the clamping force), e(t) = P 目标 -P 实际 is the deviation value, K p is the proportionality coefficient, T i is the integration time constant, T d is the differential time constant. By adjusting K p , T i , T d Parameters, so that P 实际 Fast and stable approach to P 目标 , when P 实际 Enter P 目标 If the internal clamping is within the allowable error range (such as ±ΔP) and the internal clamping feedback sensor (X1) is energized, it is determined that the internal clamping is completed.

[0096] Next, the PLC controls the external lever cylinder (Y2 is energized) to perform external clamping action. The PID algorithm is also used based on the external clamping force feedback. Through the pressure sensor at the external lever cylinder, it is connected to the corresponding PLC input point for processing. According to the above process, it is ensured that the external clamping meets the predetermined clamping requirements (judged by the external clamping in place feedback sensor X2).

[0097] After the workpiece is clamped and fixed, according to the processing requirements, the PLC outputs a control signal to the rotary positioner drive motor controller (Y3-Y6) to realize the rotary positioner to rotate at a preset angle θ 目标 Rotation. Using the feedback pulse number N of the rotary positioner rotation angle encoder, the current actual rotation angle θ is converted using the following formula 实际 :

[0098]

[0099] Among them, N 总 is the total number of pulses of the encoder rotating one circle. 实际 -θ 目标 When |≤Δθ (allowable angle error), it is determined that the rotation displacement has reached the target position.

[0100] At the same time, the PLC controller controls the motor drivers of each joint of the robot to drive the laser cutting machine to the designated processing position according to the pre-set processing path coordinate data. During the processing, the rotary positioner angle and the robot position are continuously monitored to ensure that the two work together to ensure that the laser cutting head is always aligned with the workpiece to be processed and complete the hole type and other processing operations according to the set laser cutting parameters.

[0101] The above are only further embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the scope disclosed by the present invention, which belong to the protection scope of the present invention.

Claims

1. A robot laser cutting device, comprising a rotary positioner (1), wherein a robot (2) is provided on each side of the rotary positioner (1), and a laser cutting machine is installed on the robot (2), characterized in that: The rotary positioner (1) is provided with a flipping and fixing mechanism (3), the flipping and fixing mechanism (3) comprising a fixing frame (4), and the fixing frame (4) is provided with a plurality of external clamping assemblies (5), internal clamping assemblies (6), external limit assemblies (7) and internal limit assemblies (8).

2. A robot laser cutting device according to claim 1, characterized in that: The fixed frame (4) comprises a fixed outer frame, the short side (401) of the fixed outer frame is connected to the rotary positioner (1), and a first support rod (403), a second support rod (404), a third support rod (405), a fourth support rod (406), a fifth support rod (407), a sixth support rod (408) and a seventh support rod (409) are fixed in sequence in the fixed outer frame in parallel with the short side (401), and an eighth support rod (410) and a ninth support rod (411) are fixed in parallel with the long side (402).

3. A robot laser cutting device according to claim 2, characterized in that: The external clamping assembly (5) comprises an external clamping base (501) and an external lever cylinder (502); the external clamping base (501) is a Z-shaped plate structure; the bottom plate of the external clamping base (501) is used to fix the external lever cylinder (502); the top plate of the external clamping base (501) cooperates with the external pressure rod of the external lever cylinder (502) for clamping; the number of the external clamping assemblies (5) is four, two of which are detachably fixed on the first support rod (403), and the other two are detachably fixed on the seventh support rod (409).

4. A robot laser cutting device according to claim 2, characterized in that: The inner clamping assembly (6) comprises an inner clamping base (601) and an inner rotating clamping cylinder (602), wherein the inner rotating clamping cylinder (602) is fixed on the inner clamping base (601); the number of the inner clamping assemblies (6) is four, of which two inner clamping assemblies (6) are detachably fixed on the second support rod (404), and the other two inner clamping assemblies (6) are detachably fixed on the fifth support rod (407).

5. The robot laser cutting device according to claim 2, characterized in that: The outer limiting assembly (7) comprises four outer positioning plates (701) mounted on the long sides (402) of the fixed outer frame, and the outer positioning plates (701) are L-shaped plates.

6. The robot laser cutting device according to claim 2, characterized in that: The inner limit assembly (8) comprises two inner positioning columns, and the inner positioning columns comprise a positioning base plate (801) and a plug-in column (802) vertically fixed on the positioning base plate (801), and the positioning base plate (801) is installed between the fourth support rod (406) and the fifth support rod (407).

7. The robot laser cutting device according to claim 2, characterized in that: A group of relatively arranged lofting limiters (9) and two groups of relatively arranged positioning blocks (10) are also provided on the long side (402) of the fixed outer frame, and a positioning groove (1001) is provided on the top of the positioning block (10).

8. The robot laser cutting device according to claim 2, characterized in that: An auxiliary positioning assembly (11) is also fixed on the eighth support rod (410) and the ninth support rod (411), and the auxiliary positioning assembly (11) comprises an auxiliary positioning rod (1101), and an auxiliary limiting member (1102) is provided on the auxiliary positioning rod (1101), and an auxiliary baffle (1103) is provided on both sides of the auxiliary limiting member (1102), and the auxiliary baffle (1103) is a circular plate arranged obliquely.

9. The robot laser cutting device according to claim 8, characterized in that: The auxiliary positioning assembly (11) is arranged between the fifth support rod (407) and the sixth support rod (408).

10. The robot laser cutting device according to claim 8, characterized in that: The control method is as follows: The main workpiece (12) of the ceiling is placed on the fixed frame (4), the auxiliary positioning assembly (11) is lined under the workpiece (12), the external limit assembly (7) is used to position the outer frame of the workpiece (12), the internal positioning column passes through the inner hole of the workpiece (12) for positioning, the internal rotating clamping cylinder (602) is started, so that the internal pressure rod of the internal rotating clamping cylinder (602) is pressed on the inner frame of the workpiece (12), and the external lever cylinder (502) is started, so that the external pressure rod of the external lever cylinder (502) and the top plate of the external clamping base (501) cooperate with each other to clamp the workpiece (12), thereby achieving the fixation of the workpiece (12); When the workpiece (12) is fixed, the rotary positioner (1) is started to perform a flipping operation on the workpiece (12), and the laser cutting machine is driven to move by the manipulator (2), so that different hole types at different positions can be processed.

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