Three-axis swinging device for deformed steel suspended cutting and cutting method

Abstract

The invention relates to the technical field of deformed steel cutting, in particular to a three-axis swinging device for deformed steel suspended cutting and a cutting method. The device mainly comprises two direction rotating shafts and a plane follow-up shaft, the B rotating shaft and the C rotating shaft can enable a cutting head to swing by a certain angle, the plane follow-up shaft, namely the U follow-up shaft, can enable the cutting head to move up and down by a certain distance, so that plane and groove cutting of the deformed steel is achieved, blanking and groove machining are completed on the same equipment, and the production efficiency is improved. The production efficiency can be greatly improved; meanwhile, a magnetic type all-dimensional mechanical anti-collision structure is additionally arranged, so that the cutting head can be effectively protected when the cutting head collides with the plate in the cutting process, the cutting head is prevented from being directly damaged, and rapid resetting can be achieved; the device is suitable for numerical control laser cutting of deformed steel, and has the biggest advantage that the anti-collision structure can enable the cutting head to be safer during swinging cutting, the use cost of customers is reduced, and therefore batch application of more deformed steel laser cutting machines is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of special-shaped steel cutting, and in particular to a three-axis swing device and a cutting method for suspended cutting of special-shaped steel. Background Art

[0002] With the development of laser cutting machine power segment and technology, and with the rapid rise of domestic lasers in recent years, laser cutting machines have gradually replaced plasma and flame cutting machines with the advantages of fast cutting speed and high quality. Especially in the steel structure industry, the products involve a large number of special-shaped steel cutting. Ordinary two-dimensional laser cutting machines can only process and cut flat plates, and cannot cut profiled steel. The cost of high-power laser cutting heads is relatively high, and the damage caused by collision with the plate when cutting special-shaped steel is relatively large. Once the cutting head hits the plate, the user will suffer great damage, which implicitly increases the cost of use and slows down the promotion of special-shaped steel laser cutting machines. Therefore, there is an urgent need for a technology that ensures the realization of the special-shaped steel cutting function while realizing the mechanical anti-collision of the cutting head, and protects the cutting head body from damage as much as possible when the cutting head hits the plate, and can quickly reset and resume production. At present, most domestic companies find it difficult to make breakthroughs in this regard. If the above problems can be solved, the competitiveness of special-shaped steel CNC laser cutting machine products will be greatly enhanced. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a swing device for a laser cutting machine suitable for special-shaped steel, which can realize mechanical anti-collision of a cutting head.

[0004] In view of the deficiencies in the prior art, the present invention adopts the following technical solutions to solve the technical problems: a three-axis swing device for suspended cutting of special-shaped steel, comprising a B rotating axis, a C rotating axis and a U follower axis, wherein the B rotating axis is vertically arranged to the C rotating axis and the output end of the C rotating axis is connected to the B rotating axis, the output end of the B rotating axis is connected to the U follower axis, and the U follower axis is connected to the cutting head through an anti-collision structure; the U follower axis comprises a U-axis motor seat and a U-axis servo motor, the cylinder body of the U-axis servo motor is mounted on the U-axis motor seat and its output end is deeply embedded in the U-axis motor seat, a U-axis ball screw is arranged in the U-axis motor seat, and the output end of the U-axis servo motor is connected to the U-axis ball screw; the U-axis ball screw is slidably connected to the anti-collision structure through a screw slider, the anti-collision structure comprises a magnetic anti-collision transition plate, the magnetic anti-collision transition plate is provided with a plurality of magnet groups, a displacement sensor, a ball pin group, and a cylindrical pin, the magnetic anti-collision transition plate is connected to the bottom plate through a spring, and the bottom plate is fixedly connected to the screw slider.

[0005] Preferably, the C rotating axis includes a C-axis harmonic reducer, a C-axis servo motor and a C-axis motor base. The C-axis servo motor and the C-axis harmonic reducer are installed in the C-axis motor base. The output end of the C-axis servo motor is connected to the input end of the C-axis harmonic reducer, and the output end of the C-axis harmonic reducer is connected to the B rotating axis.

[0006] Preferably, the B rotating axis includes a B-axis harmonic reducer, a B-axis servo motor and a B-axis motor base, the output end of the C-axis harmonic reducer is connected to the B-axis motor base, the B-axis servo motor and the B-axis harmonic reducer are located in the B-axis motor base, the output end of the B-axis servo motor is connected to the input end of the B-axis harmonic reducer, and the output end of the B-axis harmonic reducer is connected to the U-axis motor base.

[0007] Preferably, the magnetic force of the magnet group is F 磁 , F 磁 =1.15m*a, where m is the total mass of the three-axis swing device and a is the maximum axis acceleration of the machine tool movement.

[0008] A cutting method of a three-axis swing device for suspended cutting of special-shaped steel, comprising the following steps:

[0009] Step 1: The machine tool receives the execution program command;

[0010] Step 2: Centering the special-shaped steel, which mainly includes finding the width and height of the special-shaped steel;

[0011] Step 3: Swing head positioning: Swing head positioning is based on finding the edge of the plate after centering, and then rotating the swing head for positioning;

[0012] Step 4: Cutting of heterogeneous steel. The cutting part is divided into wing plate cutting, web plate cutting and groove hanging cutting.

[0013] Preferably, the centering operation involved in step 2 specifically includes the following process:

[0014] S1: Use a dedicated laser rangefinder to scan the outer contour of the special-shaped steel, and calculate the width of the special-shaped steel, the thickness of the wing plate and the center coordinates according to the coordinate data recorded by the laser rangefinder;

[0015] S2: Calculate the height of the special-shaped steel. The cutting head is rotated ±90° to move up and down on the Z axis. The height of the special-shaped steel is accurately calculated by sensing the change in the digital quantity of the laser rangefinder and recording the edge coordinates of the wing plate.

[0016] Preferably, when cutting to the edge of the wing plate in step four, a suspended cutting method is used, that is, the U follower shaft is closed when cutting to the edge of the wing plate, and the cutting head continues to cut until the special-shaped steel is completely cut off. At this time, there is no pipe under the cutting head, and suspended cutting is achieved.

[0017] The beneficial effects of the present invention are as follows: The device of the present invention adds two rotating shafts, B rotating shaft and C rotating shaft, which are vertically arranged. A U follower shaft is arranged on the B rotating shaft and a cutting head is connected to the U follower shaft through an anti-collision structure. The anti-collision structure ensures that the cutting head is relatively displaced in the direction of the force when it is hit by an external force, preventing the cutting head from being damaged by hard contact with the external force and ensuring the service life of the cutting head. The special design of the anti-collision structure can also allow the cutting head to be quickly reset to solve the problems raised in the above background technology. The design of the B rotating shaft and the C rotating shaft increases the rotatable range of the cutting head and the flexibility of the angle adjustment, realizing the multi-angle cutting requirements of special-shaped steel; when cutting to the edge of the wing plate, a suspended cutting method is used to ensure that the special-shaped steel can be completely cut off, avoiding poor cutting quality due to poor edge quality of the pipe, and avoiding the risk of head collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an isometric schematic diagram of the device of the present invention in a complete product;

[0019] Figure 2 It is a front view of the device of the present invention in the complete product;

[0020] Figure 3 is an isometric schematic diagram of the device of the present invention;

[0021] Figure 4 The diagram is a schematic diagram of the B rotation axis, C rotation axis (taking ±45° as an example) and U axis follow-up involved in the device of the present invention;

[0022] Figure 5 is a cross-sectional view of the device of the present invention;

[0023] Figure 6 It is an isometric view of the anti-collision structure involved in the device of the present invention;

[0024] Figure 7 It is a front view of the anti-collision structure involved in the device of the present invention;

[0025] Figure 8 It is a schematic diagram of the tool path for cutting special-shaped steel;

[0026] Fig. 9 This is a schematic diagram of laser rangefinder centering;

[0027] Fig.10 This is the flow chart for cutting special-shaped steel;

[0028] Explanation of the accompanying drawings: 1. C-axis harmonic reducer; 2. C-axis servo motor; 3. C-axis motor seat; 4. U-axis servo motor; 41. U-axis motor seat; 42. Screw slider; 5. Anti-collision structure; 51. Magnetic anti-collision transition plate; 52. Magnet group; 53. Displacement sensor; 54. Spring; 55. Ball pin group; 56. Cylindrical pin; 57. Bottom plate; 6. U-axis ball screw; 7. B-axis harmonic reducer; 8. B-axis servo motor; 9. B-axis motor seat; 10. Cutting head. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0030] In order to solve the problems raised in the background technology, the present invention provides a cutting swing device with an anti-collision structure for suspended cutting of special-shaped steel. The device can be used for bevel cutting of laser cutting machines and cutting of special-shaped steel. The three-axis swing device of the present invention is as follows Figure 3 As shown, it includes a B rotating shaft, a C rotating shaft, a U follower shaft, and an anti-collision structure 5. The B rotating shaft is connected to the output end of the C rotating shaft and can rotate in the C axis direction along with the C rotating shaft; the U follower shaft is connected to the output end of the B rotating shaft and can rotate in the B axis direction along with the B rotating shaft, and the U follower shaft is connected to the cutting head 10 through the anti-collision structure 5; Figure 5As shown, the C-axis rotating axis includes a C-axis harmonic reducer 1, a C-axis servo motor 2, and a C-axis motor seat 3. The C-axis servo motor 2 is installed in the C-axis motor seat 3, and the output end of the C-axis servo motor 2 is connected to the input end of the C-axis harmonic reducer 1; the B-axis rotating axis includes a B-axis harmonic reducer 7, a B-axis servo motor 8, and a B-axis motor seat 9. The output end of the C-axis harmonic reducer 1 is connected to the B-axis motor seat 9. The B-axis servo motor 8 and the B-axis harmonic reducer 7 are installed in the B-axis motor seat 9. The output end of the B-axis servo motor 8 is connected to the input end of the B-axis harmonic reducer 7. The output end of the speed machine 7 is connected to the U-axis motor base 41; the U follower shaft includes the U-axis motor base 41 and the U-axis servo motor 4, the cylinder body of the U-axis servo motor 4 is installed on the U-axis motor base 41 and its output end is deep into the U-axis motor base 41, and the U-axis motor base 41 is provided with a U-axis ball screw 6, the output end of the U-axis servo motor 4 is connected to the U-axis ball screw 6, the anti-collision structure 5 is slidably connected to the U-axis ball screw 6 through the screw slider 42, the screw slider 42 is sleeved on the outside of the U-axis ball screw 6, and the end of the anti-collision structure 5 close to the U-axis motor base 41 is connected to the screw slider 42. The anti-collision structure 5 includes a magnetic anti-collision transition plate 51, which is provided with multiple groups of magnet groups 52, displacement sensors 53, springs 54, ball pin groups 55, and cylindrical pins 56. The magnetic anti-collision transition plate 51 is connected to the bottom plate 57 through the spring 54. The bottom plate 57 and the screw slider 42 are fixed and the two can also be integrally formed. The bottom plate 57 drives the anti-collision structure 5 to slide with the rotation of the U-axis ball screw 6; there is no hard connection between the bottom plate 57 and the magnetic anti-collision transition plate 51, but they are adsorbed together by magnetic force. During assembly, use cylindrical pins 56 for positioning, then install multiple groups of magnet groups 52 and three groups of ball pin groups 55, and then install the spring 54 protection device above the base plate 57. The upper end of the spring 54 is connected to the base plate 57, and the lower end of the spring 54 is connected to the magnetic anti-collision transition plate 51 to prevent the magnetic anti-collision transition plate 51 from falling directly after a collision. Then install the displacement sensor 53, and finally unplug the cylindrical pin 56 for positioning. In this state, once a collision occurs, relative displacement will occur between the magnetic anti-collision transition plate 51 and the base plate 57 very quickly, thereby reducing the impact force on the cutting head 10 body to a minimum. At the same time, the displacement sensor 53 will detect the displacement and send an alarm signal in the first time, thereby triggering a shutdown. After that, it is only necessary to position it through the cylindrical pin 56 and readjust the position of the magnetic anti-collision transition plate 51, so as to achieve rapid recovery.

[0031] Figure 1 The schematic diagram of the structure of the present invention in the whole machine product, the X-axis direction is the length direction of the special-shaped steel, the Y-axis direction is the width direction of the special-shaped steel, the Z-axis is the direction perpendicular to the upper surface of the special-shaped steel, the B rotation axis, the C rotation axis, and the U follower axis are as shown in FIG. Figure 3As shown, a cutting head 10 is arranged on the U follower shaft, and the cutting head 10 is fixedly mounted on the magnetic anti-collision transition plate 51, and the fixed mounting method is pin positioning or screw connection; the magnetic anti-collision transition plate 51 is mounted on the U follower shaft through the bottom plate 57. Figure 3 It can be seen that the two side surfaces of the bottom plate 57 are stuck outside the two side surfaces of the U-axis motor seat 41 and slide along the U-axis motor seat 41 under the drive of the U-axis servo motor 4. The U-axis motor seat 41 is installed on the B-axis to realize the rotation of the cutting head 10 on the B-axis. The B-axis motor seat 9 is installed on the C-axis to realize the rotation of the B-axis motor seat 9 on the C-axis. The B-axis and C-axis swing in coordination with the U-axis, and then linked with the three-axis interpolation of the cutting machine itself, to realize the tilting and swinging of the cutting head 10, thereby adapting to the flat plane cutting and plane groove cutting of different special-shaped steels (H-shaped steel, channel steel, round pipe, square steel, angle steel, etc.).

[0032] When using the device of the present invention, firstly, the C rotating axis components are installed, which mainly include a C-axis harmonic reducer 1, a C-axis servo motor 2 and a C-axis motor seat 3, and the B-axis motor seat 9 is connected to the output end of the C-axis harmonic reducer 1; secondly, the B rotating axis components are installed, which mainly include a B-axis harmonic reducer 7, a B-axis servo motor 8 and a B-axis motor seat 9, and the U follower shaft is connected to the output end of the B-axis harmonic reducer 7. At this time, the C-axis and the B-axis are perpendicular to each other, and the U follower shaft includes a U-axis motor seat 41 and a U-axis servo motor 4; finally, the U-axis ball screw 6 is installed on the U-axis motor seat 41, and the U-axis ball screw 6 is connected to the anti-collision structure 5 through the screw slider 42, and the rotating axis part of the entire swing device is installed. When installing the anti-collision structure 5, first fix multiple groups of magnet groups 52 on the back of the magnetic anti-collision transition plate 51, adsorb the magnetic anti-collision transition plate 51 with magnets on the bottom plate 57, install protective springs 54 above the bottom plate 57 and the magnetic anti-collision transition plate 51, and use no less than two groups of cylindrical pins 56 for precise positioning and fixing, and then install no less than three groups of ball pin groups 55. After all are adjusted in place, install the displacement sensor 53, and finally pull out the cylindrical pins 56, and the installation of the anti-collision structure 5 is completed. The selection of the magnet group 52 is very important. It is necessary to ensure that when the cutting head 10 is used normally at the maximum performance of the machine tool, there is no displacement between the bottom plate 57 and the magnetic anti-collision transition plate 51. The magnetic force is selected according to 1.15 times the force received when the machine tool is used at the maximum performance, that is, F 磁=1.15m*a, m is the total mass of the three-axis swing device, a is the maximum axis acceleration of the machine tool movement; when there is an external force, the faster the displacement between the bottom plate 57 and the magnetic anti-collision transition plate 51 occurs, the faster the displacement sensor 53 can issue an alarm and immediately stop the machine. Since the ball head pin group 55 is used for positioning, no matter from which direction the cutting head 10 receives the external force impact, the magnetic anti-collision transition plate 51 and the bottom plate 57 will be displaced. Once the external force is too large, the magnetic anti-collision transition plate 51 will fall directly from the bottom plate 57. At this time, the spring 54 can ensure that the magnetic anti-collision transition plate 51 will not fall directly and cause secondary damage. After a fault occurs, it can be quickly restored by repositioning and installing the cylindrical pin 56.

[0033] like Figure 4 Figure a is a schematic diagram of the rotation of the B rotation axis of the device of the present invention, taking ±45° as an example, the U axis rotates along with the B rotation axis; Figure b is a schematic diagram of the rotation of the C rotation axis, taking ±45° as an example, the U axis rotates along with the C rotation axis; thereby, the cutting head 10 can be adjusted in multiple angles and directions.

[0034] The cutting method of the three-axis swing device for suspended cutting of special-shaped steel of the present invention comprises the following steps:

[0035] Step 1: The machine tool receives the execution program command

[0036] Step 2: Centering the special-shaped steel. Centering mainly includes finding the width and height of the special-shaped steel: by using a dedicated laser rangefinder, the edge of the special-shaped steel can be accurately found and the width of the special-shaped steel can be calculated; after the width of the special-shaped steel is known, locate the edge of the special-shaped steel, rotate the B axis 90° so that the cutting head 10 is perpendicular to the special-shaped steel wing plate, and use the laser rangefinder to find the edge of the wing plate to calculate the width of the wing plate. The centering diagram is as follows Figure 8 As shown, the arrow is a schematic diagram of the cutting head 10. By repeatedly adjusting the centering speed and using a high-precision laser rangefinder, the edges of the wing plate and the web can be accurately found, and the thickness of the wing plate can also be accurately calculated. After the centering is completed, the profile of the special-shaped steel can be obtained.

[0037] Step 3: Swing head positioning: Swing head positioning is based on finding the edge of the plate after centering, and then rotating the swing head for positioning.

[0038] Step 4, special-shaped steel cutting, the cutting part is divided into wing plate cutting and web plate cutting: when cutting the web plate, based on the result of centering, air is cut from the center of the web plate to the inside of the plate, and follow-up cutting is turned on until the edge of the web plate is cut. When cutting the wing plate, firstly, based on the set overcut distance and the edge position of the wing plate calculated by centering, the cutting head 10 is positioned to the edge of the wing plate, and the follow-up is turned off, and the light and air are cut. After cutting the overcut distance, the follow-up is turned on to continue cutting. When cutting to the edge of the other end, the follow-up is also turned off. After cutting the overcut distance, the light and air are turned off. The main process of U-axis follow-up is to first position the Z-axis CNC to 45mm above the plate, then turn on the u-axis follow-up, and finally perform follow-up cutting on the surface of the plate. The cutting process is as follows Figure 8 shown.

[0039] The implementation process of using the device of the present invention for the suspended cutting of the groove is as follows: first, manually position the cutting head 10 above the web; then perform the centering, the centering action process is to use a laser rangefinder, and determine the edge coordinates of the web and the edge coordinates of the wing plate through the change of the feedback distance of the laser rangefinder, and then the height and width of the special-shaped steel can be calculated through the relevant coordinates. In the case where the feedback coordinates do not match the actual situation, set a low-speed centering, reduce the centering speed, and perform the centering data correction. When performing groove cutting, first position the XY axis to the corresponding coordinates, turn on the RTCP function, rotate the B axis and C axis angles, and turn on the u-axis cutting to perform cutting. After the cutting is completed, you can turn on or off the frog jump. When the frog jump is turned on, the system will plan the avoidance path so that the cutting head 10 changes directly to the starting point of the next cutting path; when the frog jump is not turned on, the system will first rise the u axis, then move the Z axis to keep the cutting head 10 away from the plate surface, then return the B axis and C axis to the mechanical origin, and then move the XY axis to the starting point of the next path. The suspended cutting of special-shaped steel can further avoid the risk of head collision during the cutting process and improve the cutting efficiency of special-shaped steel. This cutting method is mainly suitable for cutting the web groove, welding hole cutting and flange groove cutting of special-shaped steel.

[0040] The centering process involved in the above embodiment is as follows:

[0041] S1: Use a special laser rangefinder to scan the outer contour of the special-shaped steel, and calculate the width of the special-shaped steel, the thickness of the wing plate and the center coordinates. In this embodiment, a laser rangefinder with a stroke of 400mm is selected. The rangefinder can simultaneously feedback digital signals and analog signals. When the laser rangefinder is within the measurement stroke, the digital quantity feedback is 1, and the analog quantity feedback is real-time distance; first, the cutting head 10 moves to the left side of the special-shaped steel to detect whether the digital quantity signal at this time exists, and if it exists, an error is reported. If the digital quantity signal of the rangefinder is not detected, the cutting head 10 moves from left to right. When it moves to the top of the special-shaped steel, the digital quantity signal becomes 1, and the analog quantity data fed back by the rangefinder at this time is recorded, and converted into distance data, and the machine tool coordinates at this time are recorded. When the cutting head 10 continues to move to the middle of the special-shaped steel, the laser rangefinder scans the wing plate at this time, and the digital quantity signal disappears again. The machine tool coordinates at this time are recorded. The thickness of the wing plate can be roughly calculated through the two coordinates. Similarly, the same operation is performed on the wing plate on the other side to obtain the thickness of the wing plate on the other side. After the rough positioning is completed, modify the movement speed and perform the same operation to accurately calculate the thickness of the wing plate. At the same time, by recording the edge coordinates of the wing plate, the width and center coordinates of the special-shaped steel are calculated.

[0042] S2: Calculate the height of the special-shaped steel. The cutting head 10 rotates ±90° to make the cutting head 10 move up and down on the Z axis. By sensing the changes in the digital quantity of the laser rangefinder and recording the edge coordinates of the wing plate, the height of the special-shaped steel can be accurately calculated. After scanning with the laser rangefinder, the outer contour size of the actual special-shaped steel can be accurately obtained. The outer contour size of the actual special-shaped steel is compared with the theoretical model, and the cutting trajectory is compensated in real time to ensure the cutting quality. When cutting to the edge of the wing plate, the suspended cutting method is used, that is, the U follower axis is closed when cutting to the edge of the wing plate, and the cutting head 10 continues to cut until the special-shaped steel is completely cut off. At this time, there is no pipe under the cutting head 10, and suspended cutting is achieved. This cutting method can ensure that the special-shaped steel can be completely cut off, avoid poor cutting quality due to poor edge quality of the pipe, and avoid the risk of head collision. The cutting path is as follows Figure 8 As shown. The tool path is generated by programming software to achieve suspended cutting of special-shaped steel.

[0043] The device of the present invention is used for the method and cutting device of flat plane cutting and plane groove cutting of special-shaped steel (H-shaped steel, channel steel, round tube, square steel, angle steel, etc.), and the device mainly includes two directional rotating shafts and a plane follower shaft, wherein the B rotating shaft and the C rotating shaft can make the cutting head 10 swing a certain angle, and the plane follower shaft, that is, the U follower shaft, can make the cutting head 10 move up and down a certain distance, thereby realizing the plane and groove cutting of special-shaped steel, completing the blanking and groove processing on the same equipment, which can greatly improve the production efficiency; at the same time, a magnetic suction type all-round mechanical anti-collision structure 5 is added, which can effectively protect the cutting head 10 when the cutting head 10 hits the plate during the cutting process, prevent the cutting head 10 from being directly damaged, and can realize rapid reset; the device is suitable for CNC laser cutting of special-shaped steel cutting, and the biggest advantage is that the anti-collision structure 5 can make the cutting head 10 safer during swing cutting, reduce the customer's use cost, thereby realizing the batch application of more special-shaped steel laser cutting machines. The cutting method of the present invention is mainly based on a steel cutting method developed based on a single follower shaft solution, and the cutting follow-up is realized by the U axis. Traditional laser cutting only has vertical Z-axis servo, and suspended cutting is based on the servo of X, Y, and Z axes. In the field of steel cutting, in addition to cutting the groove, the B-axis needs to rotate 90° to cut the steel flange. By using a dedicated servo axis u-axis, the u-axis servo is still used when cutting the flange, without switching the servo axis. This enables the cutting of special-shaped steel.

Claims

1. A three-axis swing device for suspended cutting of special-shaped steel, characterized in that: The invention comprises a B rotating shaft, a C rotating shaft and a U follower shaft, wherein the B rotating shaft is arranged perpendicular to the C rotating shaft and the output end of the C rotating shaft is connected to the B rotating shaft, the output end of the B rotating shaft is connected to the U follower shaft, and the U follower shaft is connected to the cutting head (10) via an anti-collision structure (5); the U follower shaft comprises a U-axis motor seat (41) and a U-axis servo motor (4), the cylinder body of the U-axis servo motor (4) is mounted on the U-axis motor seat (41) and the output end thereof is deeply inserted into the U-axis motor seat (41), and a U-axis ball screw (6) is arranged in the U-axis motor seat (41). The output end of the U-axis servo motor (4) is connected to the U-axis ball screw (6); the U-axis ball screw (6) is slidably connected to the anti-collision structure (5) through a screw slider (42); the anti-collision structure (5) comprises a magnetic anti-collision transition plate (51); the magnetic anti-collision transition plate (51) is provided with a plurality of magnet groups (52), a displacement sensor (53), a ball pin group (55), and a cylindrical pin (56); the magnetic anti-collision transition plate (51) is connected to a bottom plate (57) through a spring (54); and the bottom plate (57) is fixedly connected to the screw slider (42).

2. The three-axis swing device for suspended cutting of special-shaped steel according to claim 1, characterized in that: The C-axis rotary axis comprises a C-axis harmonic reducer (1), a C-axis servo motor (2) and a C-axis motor seat (3); the C-axis servo motor (2) and the C-axis harmonic reducer (1) are installed in the C-axis motor seat (3); the output end of the C-axis servo motor (2) is connected to the input end of the C-axis harmonic reducer (1); and the output end of the C-axis harmonic reducer (1) is connected to the B-axis rotary axis.

3. The three-axis swing device for suspended cutting of special-shaped steel according to claim 2, characterized in that: The B rotating axis comprises a B-axis harmonic reducer (7), a B-axis servo motor (8) and a B-axis motor seat (9); the output end of the C-axis harmonic reducer (1) is connected to the B-axis motor seat (9); the B-axis servo motor (8) and the B-axis harmonic reducer (7) are located in the B-axis motor seat (9); the output end of the B-axis servo motor (8) is connected to the input end of the B-axis harmonic reducer (7); and the output end of the B-axis harmonic reducer (7) is connected to the U-axis motor seat (41).

4. The three-axis swing device for suspended cutting of special-shaped steel according to claim 3, characterized in that: The magnetic force of the magnet group (52) is F 磁 , F 磁 =1.15m*a, where m is the total mass of the three-axis swing device and a is the maximum axis acceleration of the machine tool movement.

5. A cutting method of a three-axis swing device for suspended cutting of special-shaped steel, characterized in that: The following steps are included: Step 1: The machine tool receives the execution program command; Step 2: Centering the special-shaped steel, which mainly includes finding the width and height of the special-shaped steel; Step 3: Swing head positioning: Swing head positioning is based on finding the edge of the plate after centering, and then rotating the swing head for positioning; Step 4: Cutting of heterogeneous steel. The cutting part is divided into wing plate cutting, web plate cutting and groove hanging cutting.

6. The cutting method of the three-axis swing device for suspended cutting of special-shaped steel according to claim 5, characterized in that: The centering operation involved in step 2 specifically includes the following process: S1: Use a dedicated laser rangefinder to scan the outer contour of the special-shaped steel, and calculate the width of the special-shaped steel, the thickness of the wing plate and the center coordinates according to the coordinate data recorded by the laser rangefinder; S2: Calculate the height of the special-shaped steel. The cutting head (10) is rotated ±90° to make the cutting head (10) move up and down on the Z axis. By sensing the change of the digital quantity of the laser rangefinder and recording the edge coordinates of the wing plate, the height of the special-shaped steel is accurately calculated.

7. The cutting method of the three-axis swing device for suspended cutting of special-shaped steel according to claim 6, characterized in that: When the edge of the wing plate is cut in step 4, a suspended cutting method is used, that is, the U follower shaft is closed when the edge of the wing plate is cut, and the cutting head (10) continues to cut until the special-shaped steel is completely cut off. At this time, there is no pipe under the cutting head (10), and suspended cutting is achieved.

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