Comprehensive anti-collision control method for three-dimensional laser cutting machine

Abstract

The invention discloses a comprehensive anti-collision control method for a three-dimensional laser cutting machine. The comprehensive anti-collision control method comprises the steps that whether two sliding tables need to be combined or not is judged according to current machining task information; entering a step of independently processing the anti-collision process of the two sliding tables; and the step of the two-sliding-table cooperative machining anti-collision process is entered. According to the method, by monitoring position signals of all the motors and monitoring measured values of all the force sensors, quick response can be achieved, and shutdown signals can be sent out; moreover, when the two sliding tables independently feed, discharge and machine small workpieces, the problems of machining quality and equipment damage caused by collision of the two sliding tables can be avoided; meanwhile, when the two sliding tables need to cooperate together to machine a large workpiece, extremely-high-precision positioning and extremely-high-reliability combination of the two sliding tables can be achieved, so that the two sliding tables are completely rigidly combined into a whole, and then extremely-high-precision laser cutting machining can be achieved in cooperation with the cross beam module; and the requirements of ultrahigh machining precision application scenes are met.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting, and particularly to a comprehensive anti-collision control method for a three-dimensional laser cutting machine. Background Art

[0002] On the market, a series of three-dimensional laser cutting systems with double sliding tables (i.e., double-station three-dimensional laser cutting systems) such as the one with the publication number CN220698527U have emerged. The two sliding tables can not only independently perform the loading and unloading processes for two groups of small workpieces (the two groups of small workpieces can be the same workpieces or different workpieces), but also cooperate to perform the loading and unloading for large workpieces, so that the two laser cutting heads can not only process two groups of small workpieces simultaneously, but also cooperate to process large workpieces.

[0003] However, in the prior art, not only are collisions likely to occur between the two crossbeam modules, but also the Z-axis sleeves in each crossbeam module are likely to collide with the crossbeam (or the bed). At the same time, the two sliding tables are very likely to collide when independently processing two groups of small workpieces, resulting in equipment damage. This not only incurs high maintenance costs, but also has a long maintenance cycle, causing huge downtime losses. Moreover, when the two sliding tables cooperate to process large workpieces, due to the poor stability and reliability of the combination of the two sliding tables, it is difficult to ensure the accuracy of laser cutting processing, resulting in the three-dimensional laser cutting machine being unable to be applied to application scenarios with ultra-high processing accuracy. Summary of the Invention

[0004] In view of this, the present invention provides a comprehensive anti-collision control method for a three-dimensional laser cutting machine.

[0005] The technical solution is as follows:

[0006] The first aspect of the present application relates to a comprehensive anti-collision control method for a three-dimensional laser cutting machine, which is carried out according to the following steps:

[0007] S1. Determine whether it is necessary to combine the two sliding tables according to the current processing task information: if yes, go to step S2; if no, go to step S3 or step S4;

[0008] S2. Enter the anti-collision process for the cooperative processing of the two sliding tables, and proceed according to the following steps:

[0009] S21. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: if yes, go to the next step; if no, stop the machine;

[0010] S22. Keep the passive magnet magnetized. At the same time, disconnect the induction coil of the active electromagnet from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit, and then determine whether the induced electromotive force detection circuit outputs a working level: if yes, proceed to the next step; if no, return to step S21;

[0011] S23. Disconnect the induction coil of the active electromagnet from the induced electromotive force detection circuit and connect it to the electromagnet power supply circuit, and then adjust the electromagnet power supply circuit to make the magnetic poles of the active electromagnet opposite to those of the passive magnet until it is detected that all the precise positioning blocks are fully embedded in the corresponding precise positioning slots, and then proceed to the next step;

[0012] S24. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: if yes, proceed to the next step; if no, stop the machine;

[0013] S25. Determine whether the current processing is completed: if yes, stop the machine; if no, return to step S24;

[0014] S3. Enter the anti-collision process for independent processing of the two sliding tables and proceed according to the following steps:

[0015] S31. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: if yes, proceed to the next step; if no, stop the machine;

[0016] S32. Keep the passive magnet magnetized. At the same time, disconnect the induction coil of the active electromagnet from the induced electromotive force detection circuit and connect it to the electromagnet power supply circuit, and then adjust the electromagnet power supply circuit to make the magnetic poles of the active electromagnet the same as those of the passive magnet. After completion, proceed to the next step;

[0017] S33. Read and determine whether all motors have position signals, whether the measured values of all force sensors are less than the set values, and whether the current change rates of the two fifth motors are less than the set values: if yes, proceed to the next step; if no, stop the machine;

[0018] S34. Determine whether the current processing is completed: if yes, stop the machine; if no, return to step S33;

[0019] S4. Enter the anti-collision process for independent processing of the two sliding tables and proceed according to the following steps:

[0020] S41. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: if yes, proceed to the next step; if no, stop the machine;

[0021] S42. Keep the passive magnet magnetic. At the same time, disconnect the induction coil of the active electromagnet from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit, and then determine whether the induced electromotive force detection circuit outputs a working level: if yes, stop the machine; if no, proceed to the next step;

[0022] S43. Determine whether the current machining is completed: if yes, stop the machine; if no, return to step S41.

[0023] Adopting the above comprehensive anti-collision control method for a three-dimensional laser cutting machine has the following technical effects:

[0024] 1. By adopting a crossbeam with a hollow structure and a Z-axis sleeve centered and straddle-mounted installation method, the risk of collision between the Z-axis sleeve and the machine tool bed and the risk of collision between the two Z-axis sleeves can be completely avoided; 2. Through the cooperation of the first hydraulic buffer and the first force sensor and the cooperation of the second hydraulic buffer and the second force sensor, the machine can be stopped in time when there is a risk of collision between the two crossbeams and between the Z-axis sleeve and the crossbeam, thus avoiding damage to the main structure. Even if the hydraulic buffer and the force sensor are damaged, not only is the replacement cost low, but the maintenance time is short and the downtime loss is small; 3. This method can quickly respond and send a stop signal by monitoring the position signals of each motor and the measured values of each force sensor; 4. When the two slides perform independent loading / unloading and machining of small workpieces, the magnetic poles of each pair of passive magnets and active electromagnets can be switched to the same. Even in the extremely unlikely event of a collision accident between the slides, since the repulsive force generated between each pair of passive magnets and active electromagnets increases rapidly as the distance between the two slides decreases, it can effectively buffer the two slides, greatly reducing the degree of damage caused by the collision. Moreover, by monitoring the current change rate of the fifth motor that controls the movement of the two slides as a signal for controlling the stop, the problems of machining quality and equipment damage caused by the collision of the two slides can be avoided; it is also possible to monitor the distance between the active electromagnet and the passive magnet by connecting the induction coil of the active electromagnet to the induced electromotive force detection circuit as a signal for controlling the stop, realizing anti-collision between the two slides, thus avoiding the problems of machining quality and equipment damage caused by the collision of the two slides; 5. When the two slides need to cooperate to machine large workpieces, first switch the magnetic poles of each pair of passive magnets and active electromagnets to the opposite. Therefore, when the two slides approach, they can be quickly pre-positioned and initially combined through the mutual adsorption of each pair of passive magnets and active electromagnets. Moreover, the magnetic induction signals of the passive magnets and active electromagnets can also be used as the start signal for the positioning block driving device, so that each positioning block driving device drives each precise positioning block to be respectively inserted into the corresponding precise positioning groove. Due to the inclined surface cooperation of each precise positioning block and precise positioning groove, extremely precise positioning and extremely reliable combination of the two slides can be achieved, so that the two slides are completely rigidly combined into one body, and then extremely high-precision laser cutting machining can be realized in cooperation with the crossbeam module, meeting the needs of ultra-high machining precision application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic structural diagram of a three-dimensional laser cutting machine;

[0026] Figure 2 is a schematic structural diagram of a rail slide conveying mechanism;

[0027] Figure 3 is Figure 2 a schematic diagram after removing the slide dust covers on the two slides;

[0028] Figure 4 Schematic diagram of the mating relationship between the male base and the structures thereon, and the female base and the structures thereon;

[0029] Figure 5 is Figure 4 a sectional view of;

[0030] Figure 6 Schematic diagram of the mating relationship between the male base and the structures thereon;

[0031] Figure 7 Schematic diagram of the mating relationship between the female base and the structures thereon;

[0032] Figure 8 Schematic diagram of the structure of the vision inspection component;

[0033] Figure 9 Schematic diagram of the mating relationship between the slide table and one of the visions of the structures thereon;

[0034] Figure 10 Schematic diagram of the mating relationship between the slide table and the other vision of the structures thereon;

[0035] Figure 11 Schematic diagram of the structure of the reject push block;

[0036] Figure 12 Schematic diagram of the structure of the bed body;

[0037] Figure 13 Schematic diagram of the structure of the crossbeam module;

[0038] Figure 14 Schematic diagram of the structure of the crossbeam;

[0039] Figure 15 Schematic diagram of the structure of the Z-axis sleeve from one perspective;

[0040] Figure 16 Schematic diagram of the structure of the Z-axis sleeve from another perspective;

[0041] Figure 17 Schematic diagram of the installation structure of the Z-axis sleeve and the Y-axis slide from one perspective;

[0042] Figure 18 Schematic diagram of the installation structure of the Z-axis sleeve and the Y-axis slide from another perspective;

[0043] Figure 19 Schematic diagram of the structure of the Y-axis slide;

[0044] Figure 20 Schematic diagram of the structure of one of the slider mounting components;

[0045] Figure 21 Structural schematic diagram of another slider mounting component

[0046] Figure 22 Structural schematic diagram of the sleeve slider mounting seat

[0047] Figure 23 Structural schematic diagram of the buckle

[0048] Figure 24 Flow chart of the comprehensive anti-collision control method for a three-dimensional laser cutting machine

[0049] Figure 25 Schematic diagram of Embodiment 1 of the electromotive force detection circuit in the working state and the electromagnet power supply circuit

[0050] Figure 26 Schematic diagram of Embodiment 2 of the electromotive force detection circuit in the working state and the electromagnet power supply circuit Detailed implementation manners

[0051] The present invention will be further described below in conjunction with embodiments and the accompanying drawings

[0052] As Figures 1 - 23 shown, a comprehensive anti-collision control method for a three-dimensional laser cutting machine mainly includes a machine bed 12, a rail sliding table conveying mechanism 17, and two sets of crossbeam modules

[0053] Both ends of the bed body 12 in the length direction are provided with slide table inlets and outlets 12c, and one side of the bed body 12 in the width direction is provided with a side inlet and outlet 12d. Two waste collection bins 25 are arranged side by side at the side inlet and outlet 12d. Specifically, the bed body 12 includes five columns 12a and a top frame 12b installed on the tops of the five columns 12a at the same time. Among them, the top frame 12b is a rectangular frame structure. Specifically, the top frame 12b is formed by enclosing two relatively arranged main beams 12b1 and two relatively arranged side beams 12b2 to form a rectangular structure. Four of the columns 12a are respectively supported at the four corners of the top frame 12b, that is: the four corners of the top frame 12b are respectively fixedly connected to the tops of the four columns 12a. The other column 12a is supported at the middle position of one of the main beams 12b1, so that slide table inlets and outlets 12c are formed under both side beams 12b2 of the bed body 12, that is: the two slide table inlets and outlets 12c are located at both ends of the bed body 12 in the length direction; at the same time, the bed body 12 forms a side inlet and outlet 12d under the main beam 12b1 supported on the two columns 12a, and the two waste collection bins 25 are located directly below the main beam 12b1, that is: the side inlet and outlet 12d is located on one side of the bed body 12 in the width direction. Among them, the extending directions of the two main beams 12b1 are the length direction of the bed body 12, the extending directions of the two side beams 12b2 are the width direction of the bed body 12, and the extending direction of the column 12a is the height direction of the bed body 12. The above design not only ensures the structural strength of the bed body, but also is easy to expand and arrange functions at the position of the side inlet and outlet 12d.

[0054] In this embodiment, each column 12a includes a column body 12a1 extending in the vertical direction, a column top plate 12a2 and a column bottom plate 12a3 respectively fixedly installed at the top and bottom of the column body 12a1. A number of column reinforcing plates 12a4 extending in the vertical direction are installed on the circumference of the column body 12a1. The tops of the column reinforcing plates 12a4 are respectively fixedly connected to the corresponding column top plates 12a2, and the bottoms of the column reinforcing plates 12a4 are respectively fixedly connected to the corresponding column bottom plates 12a3. Therefore, the structural strength of each column 12a is greatly improved, and thus the structural strength of the bed body 12 is further improved. Further, in order to improve the structural strength of the bed body 12, top frame reinforcing triangular ribs 12b3 are installed at the boundaries of the top frame 12b, thereby improving the structural strength of the top frame 12b. At the same time, in order to improve the connection strength between the top frame 12b and each column 12a, top frame reinforcing triangular plates 12b4 are also provided at the connection positions between the top frame 12b and each column 12a.

[0055] Please refer to Figures 1 - 7, the rail slide table conveying mechanism 17 includes a slide table rail 17a and two slide tables 17b that can slide along the slide table rail 17a under the drive of a slide table drive assembly. The slide table rail 17a passes through the two slide table inlets and outlets 12c along the length direction. The slide table drive assembly includes a fifth rack 21 and two fifth linear guide rails 20 that are installed parallel to each other on the slide table rail 17a, and fifth motors 22 that are respectively installed on the slide tables 17b. The two slide tables 17b are respectively fixedly installed on the corresponding sliders of the two fifth linear guide rails 20. Fifth drive gears 23 that mesh with the fifth rack 21 are synchronously rotated and sleeved on the motor shafts of the fifth motors 22. Therefore, by driving the fifth drive gears 23 to rotate forward and backward, the motor shafts of the fifth motors 22 can drive the translation of the slide tables 17b, and the control accuracy is high. Further, the fifth motors 22 are preferably servo motors, which can further improve the precision control of the translation of the slide tables 17b.

[0056] In this embodiment, at least one pair of male bases 43 and female bases 40 that are directly opposite to each other are respectively installed on the outer edges of the two slide tables 17b on the sides where they are close to each other. Passive magnets 41 and at least one precise positioning groove 42 are provided on each of the female bases 40. Active electromagnets 44, precise positioning blocks 45a that respectively correspond to the precise positioning grooves 42 one by one, and a positioning block drive device 46 for driving the precise positioning blocks 45a to move synchronously are provided on each of the male bases 43. Each of the passive magnets 41 is directly opposite to each of the active electromagnets 44, and the magnetic poles of each of the passive magnets 41 and the magnetic poles of the corresponding active electromagnets 44 can be synchronously switched to be the same or opposite. Generally speaking, by changing the direction of the current, the magnetic poles of the passive magnets 41 and the active electromagnets 44 can be changed. It should be noted that the passive magnets 41 can be permanent magnets or electromagnets. For the specific control method, please refer to Embodiment 2.

[0057] Please refer to Figures 4 - 7, a translation guide rod 47 extending horizontally towards the corresponding male base 43 is fixedly installed on the female base 40. A translation sleeve 48 capable of moving axially along it and a return compression spring 49 for making the translation sleeve 48 have an outward movement tendency are sleeved on the translation guide rod 47. The two ends of the return compression spring 49 are respectively fixedly connected to the inner end of the translation sleeve 48 and the inner end of the translation guide rod 47. A magnet mounting seat 50 is fixedly sleeved on the translation sleeve 48, and the passive magnet 41 is fixedly installed on one side of the magnet mounting seat 50 close to the corresponding active electromagnet 44. In this embodiment, rough positioning is achieved through the elastic mounting method of the passive magnet 41, and a start signal for the positioning block driving device 46 is provided. Then, the final precise positioning is achieved through the inclined surface cooperation between the precise positioning block 45a and the precise positioning groove 42. Among them, the passive magnet 41 adopts a sliding fit and elastic mounting method. Not only does the return compression spring 49 make the passive magnet 41 tend to stay at the outer end of the translation guide rod 47, thus ensuring the stability and reliability of the combination of the passive magnet 41 and the corresponding active electromagnet 44, but it can also play a role in buffering and absorbing energy for the collision between the passive magnet 41 and the corresponding active electromagnet 44. At the same time, it also provides an adjustment displacement amount for the precise positioning of the inclined surface cooperation between the precise positioning block 45a and the precise positioning groove 42, ensuring the final positioning accuracy.

[0058] In this embodiment, the circumferential groove walls of the precise positioning groove 42 are each enclosed by four inclined surfaces that are arranged in pairs opposite to each other, so that the cross-section of the precise positioning groove 42 is rectangular, and the cross-sectional area of the precise positioning groove 42 gradually increases from the groove bottom to the groove opening. The inclination angles of the circumferential groove walls of the precise positioning groove 42 are all less than or equal to 5°. The circumferential side walls of the precise positioning block 45a that can be embedded in the precise positioning groove 42 are each enclosed by four inclined surfaces that respectively cooperate with the inclined surfaces of the corresponding groove walls of the precise positioning groove 42. Correspondingly, the inclination angles of the circumferential side walls of the precise positioning block 45a that can be embedded in the precise positioning groove 42 are equal to the inclination angles of the circumferential groove walls of the precise positioning groove 42, and are also all less than or equal to 5°. Therefore, through the cooperation of the precise positioning block 45a and the inclined surfaces of the precise positioning groove 42 at a very small angle, the driving force of the positioning block driving device 46 can be effectively reduced, so that a positioning block driving device 46 with a small output thrust can be selected, and the positioning accuracy is improved. Further, the positioning block driving devices 46 are all positioning block driving cylinders fixedly installed on the corresponding male base 43. The outer ends of the piston rods of the positioning block driving cylinders are all fixedly installed with positioning block mounting assemblies 45. The precise positioning blocks 45a that are integrally formed on the positioning block mounting assemblies 45 and are respectively adapted to the corresponding precise positioning grooves 42 are all hollow structures with openings at one end close to the corresponding positioning block driving cylinder, which ensures a lightweight design. At the same time, dust-proof plug blocks 45b are installed at the open sections of the precise positioning blocks 45a to prevent dust and slag accumulation. Further, dust-proof baffle plates 51 adapted to the positioning block mounting assemblies 45 are installed on the male bases 43. When the piston rods of the positioning block driving cylinders retract to the limit positions, the dust-proof baffle plates 51 can block the gaps between the positioning block mounting assemblies 45 and the male bases 43, so as to minimize the entry of waste slag and dust generated by laser cutting into the precise positioning grooves 42 and ensure the positioning accuracy.

[0059] Please refer to Figure 2 , on the outer edges of the two sliding tables 17b on their sides close to each other, sliding table dust-proof plates 52 are respectively installed. The sliding table dust-proof plates 52 each have a shielding portion 52a that first extends upward and then extends horizontally outward beyond the corresponding male base 43 or female base 40. When the two sliding tables 17b independently process workpieces, the shielding portion 52a can shield the waste slag and dust generated by laser cutting as much as possible to protect the internal male base and its attached structures or the female base and its attached structures. When the respective passive magnets 41 are respectively adsorbed to the corresponding active electromagnets 44, the two shielding portions 52a enclose an arched structure, further improving the protection effect on the internal male base and its attached structures and the female base and its attached structures. End baffle plates 52b are also provided at both ends of the shielding portion 52a. When the respective passive magnets 41 are respectively adsorbed to the corresponding active electromagnets 44, the two end baffle plates 52b at both ends are also fitted to each other, further improving the shielding effect.

[0060] Please refer toFigures 10 - 20, the crossbeam module mainly includes a crossbeam 6, a Y-axis slide 2, a Z-axis sleeve 1, and a laser cutting head 5. The crossbeam 6 is composed of two strip-shaped slides 6b and two end connectors 6c. The two strip-shaped slides 6b and the two end connectors 6c are preferably integrally formed by a casting process, with high structural strength. Both of the two strip-shaped slides 6b are columnar or strip-shaped structures, and the two strip-shaped slides 6b are parallel to each other. The two end connectors 6c are arranged at both ends of the two strip-shaped slides 6b, that is: one end connector 6c is fixedly connected to one end of the two strip-shaped slides 6b, and the other end connector 6c is fixedly connected to the other end of the two strip-shaped slides 6b. In this embodiment, the gap between the two strip-shaped slides 6b forms a Z-axis sleeve relief groove 6a extending in the horizontal direction, and both ends of the Z-axis sleeve relief groove 6a are defined by the two strip-shaped slides 6b. Moreover, Y-direction sliding component mounting structures 6b1 are provided on the upper parts of the strip-shaped slides 6b, and X-direction driving device mounting structures 6c1 are provided on the end connectors 6c, so that the centers of gravity of the Y-axis slide 2 and the Z-axis sleeve 1 are located at the center position of the crossbeam 6, greatly improving the stability and reliability of the Y-axis slide 2 and the Z-axis sleeve 1. It not only does not need to be frequently corrected and debugged, but also is not easily caused to twist and deform the crossbeam 6, making the static and dynamic characteristics of the three-dimensional laser cutting machine excellent. Therefore, the crossbeam 6 of this embodiment enables the Y-axis slide 2 to be installed on the two Y-direction sliding component mounting structures 6b1, and at the same time, the Z-axis sleeve 1 can be inserted into the Z-axis sleeve relief groove 6a, so as to be able to cooperate with the Y-axis slide 2 to achieve a central straddle mounting method on the crossbeam 6. Further, the upper parts of the two strip-shaped slides 6b have upper support surfaces 6b2 that are both inclined surfaces, and the two upper support surfaces 6b2 are symmetrically inclined downward away from each other, that is: the two upper support surfaces 6b2 together form an "eight" shape structure. At the same time, the Y-direction sliding component mounting structures 6b1 each include mounting bosses 6b11 protruding from the corresponding upper support surfaces 6b2. The mounting bosses 6b11 all extend along the length direction of the corresponding upper support surfaces 6b2. Support ribs 6b12 protrude from the sides of the two mounting bosses 6b11 away from each other. Second linear guides 7 extending along their length directions are installed on the mounting bosses 6b11, and the slide rails of the second linear guides 7 are respectively supported on the corresponding support ribs 6b12. Therefore, not only is the reliable installation of the second linear guides 7 ensured, but the two second linear guides 7 also together form an "eight" shape structure.In this embodiment, at least one upper support surface 6b2 is formed with a rack mounting horizontal surface 6b3 extending in the horizontal direction on the side close to the Z-axis sleeve relief groove 6a. A rack mounting pad 11 extending along the length direction of the Z-axis sleeve relief groove 6a is mounted on one of the rack mounting horizontal surfaces 6b3. A rack support rib 11a protrudes from the top surface of the rack mounting pad 11 on the side far from the Z-axis sleeve relief groove 6a. A second rack 8 extending along the length direction of the rack mounting pad 11 is mounted on the rack mounting pad 11. The second rack 8 is supported on the rack support rib 11a on the side far from the Z-axis sleeve relief groove 6a, ensuring the reliable installation of the second rack 8. Further, the interior of the strip-shaped slide seat 6b is a hollow structure extending along its length direction to meet the requirements of lightweight design. At the same time, a number of strengthening support ribs 6b4 distributed along the length direction of the strip-shaped slide seat 6b are provided inside the strip-shaped slide seat 6b, thus ensuring the structural strength of the strip-shaped slide seat 6b. Among them, since weight-reducing openings 6b41 are also provided on the strengthening support ribs 6b4, the overall lightweight is further improved. Moreover, a number of weight-reducing openings 6b5 distributed along the length direction of the upper support surface 6b2 are provided on the upper support surface 6b2, and the respective strengthening support ribs 6b4 are located at both ends of the corresponding weight-reducing openings 6b5, not only meeting the requirements of lightweight design, but also facilitating the welding and installation of the strengthening support ribs 6b4. In this embodiment, the X-direction driving device mounting structures 6c1 are respectively motor mounting grooves formed by concave portions from the top surfaces of the corresponding end connectors 6c, facilitating the installation of the motors. At the same time, a number of triangular strengthening ribs 6c2 are provided on the groove walls of the two motor mounting grooves, ensuring the structural strength of the positions of the motor mounting grooves.

[0061] The Z-axis sleeve 1 includes an integrally formed flat tube portion 1a and a cylindrical tube portion 1b, which has high structural strength. Among them, the flat tube portion 1a is a flat tubular structure, and the flat tube portion 1a extends in the vertical direction. The cylindrical tube portion 1b is a cylindrical structure, and the cylindrical tube portion 1b also extends in the vertical direction. At the same time, the cylindrical tube portion 1b is located at the lower end of the flat tube portion 1a. In this embodiment, the flat tube portion 1a and the cylindrical tube portion 1b are coaxially arranged. Most importantly, on both sides in the width direction of the flat tube portion 1a, there are provided lifting guide planes 1a1 that extend parallel to each other in the vertical direction. And the distance between the two lifting guide planes 1a1 is smaller than the diameter of the cylindrical tube portion 1b. At the same time, the cylindrical tube portion 1b protrudes radially from the two lifting guide planes 1a1. In addition, on the lifting guide planes 1a1, there are provided lifting control component mounting structures that extend in the vertical direction. The flat tube portion 1a is used to cooperate with the Y-axis slide 2, that is: the flat tube portion 1a can move up and down along the Y-axis slide 2. The cylindrical tube portion 1b is used to mount the laser cutting head 5. Specifically, the laser cutting head 5 extends downward out of the cylindrical tube portion 1b. Among them, the laser cutting head 5 is a traditional laser cutting head that can emit laser, and usually has one or two or more rotational degrees of freedom, which can be selected according to actual needs. Therefore, on the premise of meeting the wire routing requirements, the flat tube portion 1a can be designed to be ultra-thin, that is: the distance between the two lifting guide planes 1a1 can be designed to be very small. Therefore, the width of the Y-axis slide 2 that cooperates with it can also be very small, thereby reducing the size and weight of the Y-axis slide 2, meeting the requirements of lightweight design. And because the Z-axis sleeve 1 and the Y-axis slide 2 form an irregular shaft-hole fit through the flat tube portion 1a, there will be no relative rotation between them, so there will be no misassembly problem during assembly, and the assembly tolerance can be greatly reduced, shortening the assembly and debugging cycle; at the same time, because the widths of the flat tube portion 1a and the Y-axis slide 2 are both very small, the width of the Z-axis sleeve relief groove 6a of the beam 6 that cooperates with them can be greatly reduced, thereby effectively improving the structural strength of the beam 6, not easily having the problem of bending deformation, reducing the maintenance frequency and use cost.

[0062] On the inner wall of the flat tube portion 1a, two wire routing relief grooves 1a2 facing each other are recessed. Both of the two wire routing relief grooves 1a2 are arranged inside the corresponding lifting guide plane 1a1 and extend along the vertical direction. Therefore, while ensuring the structural strength of the flat tube portion 1a itself, the middle part of the flat tube portion 1a can facilitate wire routing through the two wire routing relief grooves 1a2 formed by the enlarged-diameter profile. Further, the cross-section of the flat tube portion 1a is approximately rectangular. Specifically, the circumferential outer wall of the flat tube portion 1a is enclosed by two relatively arranged lifting guide planes 1a1 and two relatively arranged arc-shaped surfaces 1a5. The lifting guide planes 1a1 are both planar structures, and the arc-shaped surfaces 1a5 are both arc-shaped surfaces protruding outward. The lifting guide planes 1a1 and the arc-shaped surfaces 1a5 both extend along the vertical direction. Among them, since the arc-shaped surface 1a5 is an arc-shaped thin plate structure, it is not only easy to cast, but also has higher structural strength compared to the conventional flat plate structure. In this embodiment, since both of the two lifting guide planes 1a1 protrude outward from the cylindrical portion 1b along the horizontal direction to both sides, the internal space of the flat tube portion 1a can be effectively increased, so that more wire harnesses can pass through without increasing the width of the flat tube portion 1a. The Z-axis sleeve 1 of this embodiment is integrally formed by a casting process and has high structural strength.

[0063] The Y-axis slide seat 2 has an annular structure. Specifically, the Y-axis slide seat 2 is enclosed by two relatively arranged slider mounting components and two relatively arranged buckle components, that is: the two slider mounting components face each other, the two buckle components face each other, and the two slider mounting components and the two buckle components are arranged in a rectangular pattern, thus jointly forming an annular structure. Each slider mounting component includes a crossbeam slider mounting seat 2a and two sleeve slider mounting seats 2b. The crossbeam slider mounting seat 2a includes a vertically extending vertical mounting plate 2a1 and a slider connecting plate 2a2 bent outward from the bottom of the vertical mounting plate 2a1. The two slider connecting plates 2a2 are respectively parallel to the corresponding upper support surface 6b2, and Y-direction slider connection structures 2a21 are provided on both of the two slider connecting plates 2a2. Among them, the slider connecting plate 2a2 can be arranged perpendicular to the vertical mounting plate 2a1 or inclined to the vertical mounting plate 2a1. Further, in this embodiment, the slider connecting plate 2a2 is preferably extended outward from the lower edge of the corresponding vertical mounting plate 2a1 and inclined downward, so that the two slider connecting plates 2a2 of the two slider mounting components jointly form a "V"-shaped structure (matched with the second linear guide 7). Therefore, when the Y-axis slide seat 2 translates, it can apply pressure to the crossbeam 6 through the way of inclined plane cooperation. Compared with the structure where the slider connecting plate 2a2 is perpendicular to the vertical mounting plate 2a1 and applies pressure to the crossbeam 6, the way in this embodiment can reduce the pressure borne by the crossbeam 6, thereby making the structural stability of the crossbeam 6 better and reducing the risk of the middle part of the crossbeam 6 sagging and bending.

[0064] Furthermore, at least one triangular reinforcing rib 2a3 is provided between the outer surface of the vertical mounting plate 2a1 and the upper surface of the slider connecting plate 2a2, so as to effectively improve the structural strength of the crossbeam slider mounting seat 2a and avoid deformation. Z-direction slider connection structures 2b1 are provided on all four sleeve slider mounting seats 2b, and connection bosses 2b2 adapted to the corresponding vertical mounting plates 2a1 are provided on the outer sides of the sleeve slider mounting seats 2b. Each connection boss 2b2 can be adjustably mounted on the inner side of the corresponding vertical mounting plate 2a1. The buckle assemblies are each composed of at least one vertically arranged buckle 2c. Both ends of each buckle 2c are bent inward to form buckle connecting arms 2c1. Connecting arm slots 2b21 adapted to the corresponding buckle connecting arms 2c1 are formed on the side walls of each connection boss 2b2. Each buckle connecting arm 2c1 can be adjustably mounted in the corresponding connecting arm slot 2b21. Therefore, the size of the Y-axis slider 2 in the circumferential direction can be adjusted.

[0065] The Y-axis slide 2 of this embodiment is connected to the cross beam 6 by means of two Y-direction slider connection structures 2a21, and can adopt a central straddle-mounted installation method. Compared with the existing offset-mounted structure of the Y-axis slide, the Y-axis slide 2 of this embodiment not only makes the overall center of gravity in the central position, thus making the installation of the Y-axis slide 2 stable and reliable, without the need for frequent alignment debugging, and not easily causing torsional deformation of the cross beam 6, making the static and dynamic characteristics of the three-dimensional laser cutting machine excellent. At the same time, since the Y-axis slide adopts a split structure, it can be very conveniently assembled with the Z-axis sleeve 1, and can adapt to Z-axis sleeves 1 of different sizes by replacing latches 2c of different sizes or adjusting the connection position between the latch connection arm 2c1 and the connection arm slot 2b21, with good versatility. Moreover, the split-structured Y-axis slide can very conveniently correct the assembly error and coordinate with the machining accuracy debugging of the later equipment by adjusting the connection position between the latch connection arm 2c1 and the connection arm slot 2b21 and the connection position between the connection boss 2b2 and the vertical mounting plate 2a1. A first bolt hole array 2b22 composed of bolt holes distributed in an array is provided on the outer side of each connection boss 2b2, that is, the first bolt hole array 2b22 is composed of bolt holes distributed in multiple rows and multiple columns in an array, and the inner ends of the bolt holes of the first bolt hole array 2b22 all penetrate to the corresponding connection arm slot 2b21. At the same time, two second bolt hole arrays 2a11 composed of bolt holes distributed in an array are provided on each vertical mounting plate 2a1, that is, the second bolt hole array 2a11 is composed of bolt holes distributed in multiple rows and multiple columns in an array. A bolt hole linear array 2c11 composed of bolt holes evenly distributed along the length direction is provided on each latch connection arm 2c1. The aperture and spacing of adjacent bolt holes of the first bolt hole array 2b22, adjacent bolt holes of the second bolt hole array 2a11, and adjacent bolt holes of the bolt hole linear array 2c11 are the same, and at least one bolt hole of each bolt hole linear array 2c11 communicates with the bolt holes of the corresponding first bolt hole array 2b22 and the second bolt hole array 2a11, and is locked into one body by bolts (not shown in the figure). When it is necessary to adjust the size and structure of the Y-axis slide 2, only need to take out each bolt, then adjust the relative positions on the sleeve slider mounting seat 2b and the cross beam slider mounting seat 2a, and the relative position between the latch 2c and the sleeve slider mounting seat 2b. After in place, lock the bolts again, which is simple and reliable.In this embodiment, two first linear guide rails 1c extending in the vertical direction are installed on both of the two lifting guide planes 1a1. A first rack 1d extending in the vertical direction is installed on one of the lifting guide planes 1a1. Two slider mounting assemblies are correspondingly arranged outside the two lifting guide planes 1a1, and two buckle assemblies are correspondingly arranged outside the two arc-shaped surfaces 1a5. Four Z-direction slider connection structures 2b1 are fixedly connected to the sliders of the four first linear guide rails 1c respectively. A first motor 3 is installed on the crossbeam slider mounting seat 2a close to the first rack 1d. A first driving gear 4 meshing with the first rack 1d is sleeved on the motor shaft of the first motor 3 in a synchronously rotating manner.

[0066] Therefore, by driving the first driving gear 4 to rotate forward and backward, the motor shaft of the first motor 3 can make the Z-axis sleeve 1 rise or fall along the Y-axis slide, with high control precision. Further, the first motor 3 is preferably a servo motor, which can further improve the precision control of the lifting of the Z-axis sleeve 1.

[0067] Among them, the Y-direction slider connection structure 2a21 includes a Y-direction slider limiting rib 2a211 integrally formed on the lower side of the slider connection plate 2a2 and a third bolt hole array 2a212 penetrating the slider connection plate 2a2 in the thickness direction. The third bolt hole array 2a212 is composed of bolt holes distributed in an array. After the slider of the first linear guide 1c is positioned on the Y-direction slider limiting rib 2a211, it is connected to the third bolt hole array 2a212 through bolts, which is simple and reliable. Similarly, two Y-direction slider connection structures 2a21 are fixedly connected to the sliders of two second linear guides 7 in a one-to-one correspondence. A second motor 9 is installed on the crossbeam slider mounting seat 2a far from the first rack 1d. A second driving gear 10 meshing with the second rack 8 is sleeved on the motor shaft of the second motor 9 in a synchronously rotating manner. Therefore, by driving the second driving gear 10 to rotate forward and backward, the motor shaft of the second motor 9 can make the Y-axis slide seat translate along the crossbeam 6, with high control precision. Further, the second motor 9 is preferably a servo motor, which can further improve the precision control of the translation of the Y-axis slide seat. Among them, the Z-direction slider connection structure 2b1 includes a Z-direction slider limiting rib 2b11 integrally formed on the side of the sleeve slider mounting seat 2b away from the slider connection plate 2a2 and a fourth bolt hole array 2b12 penetrating the sleeve slider mounting seat 2b in the thickness direction. The fourth bolt hole array 2b12 is composed of bolt holes distributed in an array. After the slider of the second linear guide 7 is positioned on the Z-direction slider limiting rib 2b11, it is connected to the fourth bolt hole array 2b12 through bolts, which is simple and reliable. In this embodiment, the first rack 1d and each first linear guide 1c are respectively installed on the corresponding lifting control component installation structures. Specifically, a plurality of flat cylinder part reinforcing ribs 1a3 protrude from the lifting guide plane 1a1, improving the structural strength of the flat cylinder part 1a. At the same time, some of the flat cylinder part reinforcing ribs 1a3 extending in the vertical direction are the lifting control component installation structures. The first rack 1d and each first linear guide 1c are respectively installed on the flat cylinder part reinforcing ribs 1c extending in the vertical direction, ensuring the installation accuracy of the first rack 1d and each first linear guide 1c. Further, a circular reinforcing flange 1a4 protrudes circumferentially from the top of the flat cylinder part 1a, thereby improving the structural strength at the entrance of the flat cylinder part 1a. At the same time, the upper parts of the flat cylinder part reinforcing ribs 1a3 extending in the vertical direction all extend to the circular reinforcing flange 1a4, improving the overall structural strength of the flat cylinder part 1a. And the upper ends of the first rack 1d and each first linear guide 1c are in contact with the circular reinforcing flange 1a4, thereby further improving the installation accuracy of the first rack 1d and each first linear guide 1c.

[0068] Further, a plurality of annular reinforcing ribs 1b1 arranged side by side in the axial direction and axial reinforcing ribs 1b2 evenly distributed circumferentially along each annular reinforcing rib 1b1 are convexly formed on the outer peripheral surface of the cylindrical portion 1b. The annular reinforcing ribs 1b1 and the axial reinforcing ribs 1b2 together form a grid-like structure, thus effectively improving the structural strength of the cylindrical portion 1b. Further, a first motor mounting seat 2a4 is provided on the crossbeam slider mounting seat 2a near the first rack 1d, and the first motor 3 is mounted on the first motor mounting seat 2a4, ensuring the reliable mounting of the first motor 3. A second motor mounting seat 2a5 is provided on the crossbeam slider mounting seat 2a near the second rack 8, and the second motor 9 is mounted on the second motor mounting seat 2a5, ensuring the reliable mounting of the second motor 9. Highly rigid linear guides 31 extending in the length direction of the crossbeam 6 are fixedly mounted on both side walls of the Z-axis sleeve relief groove 6a in parallel, that is: highly rigid linear guides 31 are mounted on one side wall of each of the two strip-shaped sliders 6b close to each other. At the same time, highly rigid support blocks 32 extending in the width direction of the crossbeam 6 are fixedly mounted on both sides of the Y-axis slider 2 in the length direction of the crossbeam 6. Both ends of the highly rigid support blocks 32 are respectively fixedly connected and supported between the corresponding sliders of the two highly rigid linear guides 31, that is: support block mounting seats 2b3 adapted to the highly rigid support blocks 32 are provided at the lower parts of the four slider connection structures 2b1, and the highly rigid support blocks 32 are fixedly mounted in pairs of two of the four support block mounting seats 2b3. Therefore, in this embodiment, not only are highly rigid linear guides 31 arranged in the length direction added to both side walls of the Z-axis sleeve relief groove 6a, which is equivalent to adding two straighteners to the crossbeam 6, but also two highly rigid support blocks 32 fixedly connected to the Y-axis slider 2 and the sliders of the two highly rigid linear guides 31 are added. The two highly rigid support blocks 32 and the two highly rigid linear guides 31 form a dynamic quadrilateral support structure. By synchronously moving with the Y-axis slider 2, the two highly rigid support blocks 32 can not only serve as two dynamic reinforcing ribs to improve the structural strength of the crossbeam 6, increase the low-order modal frequency of the crossbeam 6, thereby enhancing the static and dynamic stiffness of the crossbeam 6, but also serve as two dynamic on-line straighteners to straighten the crossbeam 6 by moving back and forth, so that it is extremely difficult for the crossbeam 6 to bend and twist even after long-term use; at the same time, the two highly rigid support blocks 32 and the two highly rigid linear guides 31 also greatly increase the structural strength of the connection between the crossbeam 6 and the Y-axis slider 2, adding a new force transmission path and realizing an integrated coupling design, thereby significantly improving the load-bearing capacity of the entire crossbeam module and endowing the three-dimensional laser cutting machine with excellent static and dynamic characteristics.

[0069] Furthermore, on the side walls of the two strip-shaped sliding seats 6b close to each other, guiding support grooves 6b6 adapted to the corresponding end parts of the high-rigidity support blocks 32 are recessed along the length direction. Two high-rigidity linear guide rails 31 are respectively fixedly installed at the bottoms of the corresponding guiding support grooves 6b6. The two ends of the high-rigidity support blocks 32 are respectively inserted into the corresponding guiding support grooves 6b6, and the upper and lower side walls of the two ends of the high-rigidity support blocks 32 are respectively in contact with the two side wall surfaces of the corresponding guiding support grooves 6b6, that is: the upper side wall of the high-rigidity support block 32 and the upper side wall of the guiding support groove 6b6 form a surface contact, and the lower side wall of the high-rigidity support block 32 and the lower side wall of the guiding support groove 6b6 form a surface contact. Through such a design, the supporting and straightening effects of the two high-rigidity support blocks 32 on the two strip-shaped sliding seats 6b can be greatly improved, so that the whole crossbeam module has more excellent static and dynamic characteristics. It should be noted that a plurality of bolt mounting holes 6b7 are opened at the bottom of the guiding support groove 6b6, and the high-rigidity linear guide rail 31 is locked in the corresponding bolt mounting hole 6b7 by bolts, ensuring the reliable installation of the high-rigidity linear guide rail 31 and making the assembly process very convenient.

[0070] Vision system brackets 37 are installed at the bottoms of the high-rigidity support blocks 32. Online adjustment motors 34 are fixedly installed on the vision system brackets 37. Online camera brackets 35 are fixedly installed on the motor shafts of the online adjustment motors 34. Online vision cameras 36 are fixedly installed on the online camera brackets 35. Therefore, the on-line perspective detection of the workpiece being processed can be carried out to assist in realizing higher-quality three-dimensional cutting processing. And, since the online adjustment motor 34 can drive the online vision camera 36 to rotate through the online camera bracket 35, the perspective detection range is greatly increased, and at the same time, detection dead angles can be avoided.

[0071] On the sides of the high-rigidity support blocks 32 away from the Z-axis sleeve 1, first oil pressure buffers 33 extending away from the Z-axis sleeve 1 are installed. On the sides of the end connection seats 6c close to the Z-axis sleeve 1, first force sensors 34 facing the adjacent first oil pressure buffers 33 are installed. When the first oil pressure buffer 33 abuts against the corresponding first force sensor 34, the first oil pressure buffer 33 can first play a buffering role, and at the same time can trigger the first force sensor 34 to send a shutdown signal, thereby avoiding the collision between the Y-axis sliding seat 2 and the crossbeam 6. Furthermore, the high-rigidity support block 32 can be composed of a plurality of small blocks fixedly connected together, greatly improving the convenience of assembling with the counter part. At the same time, each small block is in a hollow grid structure on the premise of meeting the structural strength requirements, ensuring the overall lightweight design of the crossbeam module, reducing the load of the crossbeam 6, and further reducing the risk of deformation of the crossbeam 6.

[0072] In this embodiment, two mutually parallel third linear guide rails 13 are installed on the top of the bed body 12. A third rack 14 parallel to each of the two third linear guide rails 13 is installed beside them, that is, a third linear guide rail 13 and a third rack 14 are installed on the top of the main beam 12b1 along its length direction. At the same time, third motors 15 are installed on each end connecting seat 6c of the two sets of crossbeam modules. Third drive gears 16 respectively meshing with the corresponding third racks 14 are sleeved on the motor shafts of the two third motors 15 of each set of crossbeam modules in a synchronously rotating manner. The crossbeams 6 of the two sets of crossbeam modules are installed on the corresponding sliders of the two third linear guide rails 13 in parallel. Moreover, the extending directions of the two crossbeams 6 are perpendicular to the extending directions of the two third linear guide rails 13. Generally, the extending direction of the third linear guide rail 13 is the X direction, the extending direction of the crossbeam 6 is the Y direction, and the extending direction of the Z-axis sleeve 1 is the Z direction. Therefore, by driving the third drive gear 16 to rotate forward and backward through the motor shaft of the third motor 15, the translation of the crossbeam 6 can be controlled with high control precision. Further, the third motor 15 is preferably a servo motor, which can further improve the precision control of the translation of the crossbeam 6. In the above structure, the two third linear guide rails 13 and the two third racks 14 installed on the top of the bed body 12 along the length direction of the bed body 12 and the two third motors 15 respectively fixedly installed on the corresponding end connecting seats 6c constitute a crossbeam drive assembly. The two end connecting seats 6c are installed on the sliders of the two third linear guide rails 13 in a one-to-one correspondence manner. Third drive gears 16 respectively meshing with the corresponding third racks 14 are sleeved on the motor shafts of each third motor 15 in a synchronously rotating manner. The two second linear guide rails 7 and a second rack 8 extending along the width direction of the bed body 12 and the second motor 9 fixedly installed on the Y-axis slide 2 constitute a slide drive assembly. The second rack 8 and one of the second linear guide rails 7 are fixedly installed on one of the strip-shaped slides 6b in the crossbeam 6, and the other second linear guide rail 7 is fixedly installed on the other strip-shaped slide 6b in the crossbeam 6. The Y-axis slide 2 is fixedly installed on the sliders of each second linear guide rail 7. A second drive gear 10 meshing with the second rack 8 is sleeved on the motor shaft of the second motor 9 in a synchronously rotating manner. The first rack 1d and at least one first linear guide rail 1c installed on the Z-axis sleeve 1 along the vertical direction and the first motor 3 fixedly installed on the Y-axis slide 2 constitute a sleeve drive assembly. The Y-axis slide 2 is fixedly connected to the sliders of each first linear guide rail 1c. A first drive gear 4 meshing with the first rack 1d is sleeved on the motor shaft of the first motor 3 in a synchronously rotating manner. Second oil pressure buffers 39 and second force sensors 38 are provided on the mutually approaching sides of the two crossbeams 6. The second oil pressure buffer 39 of one crossbeam 6 faces the second force sensor 38 of the other crossbeam 6, and the second force sensor 38 of this crossbeam 6 faces the second oil pressure buffer 39 of the other crossbeam 6.When the second hydraulic shock absorber 39 abuts against the corresponding second force sensor 38, the second hydraulic shock absorber 39 can first play a buffering role, and at the same time can trigger the second force sensor 38 to send a shutdown signal, thereby preventing the two cross beams 6 from colliding.

[0073] Please refer to Figure 1 and Figure 8 , a vision detection component 26 is installed on the main beam 12b1 at the side inlet / outlet 12d. Two waste collection bins 25 are installed below the main beam 12b1. The vision detection component 26 is located directly above the two waste collection bins 25. Among them, the vision detection component 26 is used for vision detection of the workpiece after laser cutting, and the waste collection bin 25 is used for centralized collection of waste. The vision detection component 26 includes a camera base 26a fixedly installed on the main beam 12b1, a sixth rack 26c and two sixth linear guide rails 26b both fixedly installed on the camera base 26a along the length direction of the main beam 12b1, a long bracket 26d simultaneously installed on the sliders of the two sixth linear guide rails 26b, a sixth motor 26k, a seventh guide rail 26h and a seventh rack 26i all fixedly installed on the long bracket 26d, a camera mounting seat 26j fixedly installed on the slider of the seventh guide rail 26h, and a seventh motor 26e and a vision camera 26f all fixedly installed on the camera mounting seat 26j. Among them, the long bracket 26d extends in the horizontal direction perpendicular to the sixth linear guide rail 26b, and the seventh guide rail 26h and the seventh rack 26i both extend along the length direction of the long bracket 26d. The lens of the vision camera 26f faces downward. A sixth driving gear 26g meshing with the sixth rack 26c is sleeved on the motor shaft of the sixth motor 26k in a synchronously rotating manner, and a seventh driving gear 26l meshing with the seventh rack 26i is sleeved on the motor shaft of the seventh motor 26e in a synchronously rotating manner. Therefore, by driving the sixth driving gear 26g to rotate forward and backward, the motor shaft of the sixth motor 26k can drive the translation of the long bracket 26d. At the same time, by driving the seventh driving gear 26l to rotate forward and backward, the motor shaft of the seventh motor 26e can drive the translation of the camera mounting seat 26j. Thus, the position of the vision camera 26f can be flexibly adjusted to adapt to the workpiece to be detected with a large size and a complex surface structure, and the control accuracy is high. Further, the sixth motor 26e and the seventh motor 26e are both preferably servo motors, which can further improve the adjustment accuracy of the position of the vision camera 26f.

[0074] Further, the camera base 26a is a plate-like structure with a large area of hollowing to achieve a cleaning design. At the same time, at least one light bar 26m is installed on the camera base 26a, so as to provide sufficient light source for the shooting of the vision camera 26f and ensure the quality of vision detection.

[0075] Please refer to Figures 1 - 3 and Figures 9 - 11, positioning fixtures 18 capable of moving along the width direction of the slide rail 17a under the drive of the tooling translation assembly 19 are installed on the slide tables 17b. Among them, each tooling translation assembly 19 includes a tooling base 19a fixedly installed on the corresponding slide table 17b and a tooling translation module for driving the positioning fixture 18 to move along the width direction of the slide rail 17a on the tooling base 19a. At least one set of waste removal mechanisms 24 for removing the waste on the upper surface of the tooling base 19a to the waste collection box 25 is synchronously connected to the positioning fixture 18. Therefore, the slide table module of this embodiment can provide two online adjustable degrees of freedom in the horizontal direction, and cooperate with the multiple degrees of freedom realized on the crossbeam module, so as to realize a redundant processing mode with a large number of degrees of freedom, which can not only perform laser cutting processing more efficiently, but also perform laser cutting processing more flexibly, so that it can be applied to the cutting processing of more complex profiles and obtain higher processing accuracy; and when online visual inspection of the workpiece is required, the positioning fixture 18 moves to directly below the visual inspection component 26 along the width direction of the slide rail 17a. At the same time, the positioning fixture 18 will synchronously drive the waste removal mechanism 24 to remove the waste on the tooling base 18 to the waste collection box 25, completing two processes in one step, that is: each time the positioning fixture 18 transfers the workpiece to be inspected to directly below the visual inspection component 26, each waste removal mechanism 24 also synchronously removes the waste on the tooling base 18 to the waste collection box 25, which not only greatly improves the processing efficiency, but also has a clever mechanical structure design and a high degree of integration. Especially for circular metal sheets, with a little push, they can roll out of the slide table by their own inertia, which not only has high efficiency and little impact on the production rhythm, while for strip-shaped metal sheets, the working stroke of the waste removal mechanism 24 needs to cover the tooling base 19a as much as possible. Each tooling base 19a includes a material receiving plate 19a1 fixedly installed on the corresponding slide table 17b and two guide rail mounting brackets 19a2. The two guide rail mounting brackets 19a2 are relatively installed on both sides of the material receiving plate 19a1 along the length direction of the slide rail 17a. The two guide rail mounting brackets 19a2 are preferably fixedly installed on the slide table 17b and fixedly connected to the material receiving plate 19a1, ensuring the stability and reliability of the tooling base 19a.The tooling translation module includes a fourth linear guide rail 19c installed on one of the guide rail mounting brackets 19a2, a fourth linear guide rail 19c and a fourth rack 19b installed on the other guide rail mounting bracket 19a2. The fourth rack 19b and the fourth linear guide rail 19c both extend along the width direction of the slide rail 17a. The positioning tooling 18 includes a driving carriage 18a and a driven carriage 18b on both sides of the material receiving plate 19a1. The driving carriage 18a and the driven carriage 18b are respectively fixedly installed on the sliders of the corresponding fourth linear guide rail 19c. A fourth motor 19d is installed on the driving carriage 18a, and a fourth driving gear 19e meshing with the fourth rack 19b is synchronously sleeved on the motor shaft of the fourth motor 19d. When the workpiece is fixed on the driving carriage 18a and the driven carriage 18b, the driving carriage 18a and the driven carriage 18b move synchronously. Therefore, by driving the fourth driving gear 19e to rotate forward and backward, the motor shaft of the fourth motor 19d can control the translation of the positioning tooling 18 with high control precision. Further, the fourth motor 19d preferably uses a servo motor, which can further improve the precision control of the translation of the positioning tooling 18.

[0076] In this embodiment, a set of waste removal mechanisms 24 for removing waste on the upper surface of the material receiving plate 19a1 to one side in the width direction of the sliding table track 17a are installed on both the active carriage 18a and the driven carriage 18b, so as to achieve a better cleaning effect on the upper surface of the material receiving plate 19a1. Two material receiving grooves 19a11 respectively located below the corresponding waste removal mechanisms 24 are recessed on the upper surface of the material receiving plate 19a1, so as to reliably collect the waste generated by laser cutting. At the same time, the waste removal mechanisms 24 each include a connection component 24a installed on the corresponding active carriage 18a or driven carriage 18b and a removal component 24b for removing the waste in the corresponding material receiving groove 19a11 to one side in the width direction of the sliding table track 17a. Each group of removal components 24b independently removes the waste in the material receiving groove 19a11, with high reliability. Specifically, a plurality of guide slots 19a12 penetrating the material receiving plate 19a1 in the width direction of the sliding table track 17a are recessed at the bottom of each material receiving groove 19a11. The removal components 24b each include a push-pull shaft 24b1 extending in the length direction of the sliding table track 17a, a material removal push block 24b2 slidably installed in the guide slot 19a12 in a one-to-one correspondence, and a push-pull crank 24b3 hinged to the same end of each material removal push block 24b2 in a one-to-one correspondence. One end of each push-pull crank 24b3 away from the material removal push block 24b2 is respectively hinged to the corresponding push-pull shaft 24b1. The connection components 24a each include a push-pull plate 24a1 fixedly connected to the corresponding active carriage 18a or driven carriage 18b and a push-pull link 24a2 hinged to the corresponding push-pull plate 24a1. One end of each push-pull link 24a2 away from the push-pull plate 24a1 is respectively hinged to the corresponding push-pull shaft 24b1. Therefore, when the active carriage 18a and the driven carriage 18b translate synchronously, each push-pull plate 24a1 can push and pull the corresponding push-pull shaft 24b1 through the corresponding push-pull link 24a2, and the push-pull shaft 24b1 then synchronously pushes and pulls the material removal push block 24b2 through each push-pull crank 24b3, so as to push the waste in each guide slot 19a12 to the outside of the sliding table module. Since the cutting waste is usually a metal sheet (either circular or strip-shaped) generated by punching, and the width of the guide slot 19a12 is designed to be smaller than the metal sheet, it can ensure that the metal sheet is inclined in the guide slot 19a12 and is easily pushed by the material removal push block 24b2. If the metal sheet is circular, with a slight push from the material removal push block 24b2, the circular metal sheet can roll into the waste collection box 25 under the support of the side wall of the guide slot 19a12 by using its own inertia.

[0077] Further, in order to make it easier to push the metal sheet out of the material guiding slot 19a12, in this embodiment, in the same material receiving slot 19a11: each material guiding slot 19a12 is arranged to incline downward from one end close to the pushing and pulling shaft 24b1 towards the other end synchronously, that is, to incline obliquely downward towards the waste collection box 25. Since each material guiding slot 19a12 is designed to incline obliquely downward towards the output end, whether it is a circular metal sheet or a strip-shaped metal sheet, the material removing push block 24b2 only needs to apply a relatively small set thrust, and the circular metal sheet and the strip-shaped metal sheet can smoothly slide out along the material guiding slot 19a12 under the action of their own gravity and inertia, which not only improves the cleaning ability and cleaning efficiency, but also can better avoid the jamming problem. Further, in order to make the posture of the metal sheet in the material guiding slot 19a12 easier to be pushed by the material removing push block 24b2, in this embodiment, the two side walls of the material guiding slot 19a12 are mirror-symmetrically arranged, and each material guiding slot 19a12 includes an inclined section 19a121 and a vertical section 19a122 distributed from bottom to top. Specifically, in the same material guiding slot 19a12: the heights of the inclined sections 19a121 at each position are equal, and the heights of the vertical sections 19a122 at each position are also equal; among them, the two inclined sections 19a121 are both inclined plane structures, and the distance between the two inclined sections 19a121 gradually increases towards the direction close to the bottom of the slot, that is, the cross-section of the material guiding slot 19a12 at the two inclined section 19a121 positions is in a trapezoidal structure; the two vertical sections 19a122 are both vertical plane structures, that is, the cross-section of the material guiding slot 19a12 at the two vertical section 19a122 positions is in a rectangular structure, so that the metal sheet generated by laser cutting can be supported at the inclined section 19a121 position and has a certain angle with the vertical section 19a122, and thus is more easily pushed by the material removing push block 24b2. Correspondingly, each material removing push block 24b2 includes a connecting arm 24b21 hinged to the corresponding pushing and pulling crank 24b3 and a removing block 24b22 integrally formed at one end of the corresponding connecting arm 24b21 away from the pushing and pulling crank 24b3. A reduced-diameter section 24b221 adapted to the corresponding two vertical sections 19a122 and a trapezoidal block section 24b222 adapted to the corresponding two inclined sections 19a121 are integrally formed at the lower part of the removing block 24b22. Therefore, the metal sheet generated by laser cutting will be inclined and supported in the material guiding slot 19a12 and will not completely adhere to the bottom or side wall of the material guiding slot 19a12, so that the material removing push block 24b2 can very easily push the metal sheet in the material guiding slot 19a12 and avoid the jamming problem.

[0078] Furthermore, in this embodiment, the upper part of the waste removal block 24b22 is designed to be wider, so that the gap between the upper parts of adjacent waste removal blocks 24b22 is very small (usually much smaller than the diameter or width of the metal sheet), so that the waste that does not fall into the material guiding slot 19a12 can be pushed away together, ensuring the thoroughness of waste removal. In this embodiment, in order to ensure the stability of the operation of the push-pull shaft 24b1, push-pull shaft guiding slots 19a13 adapted to the corresponding push-pull shafts 24b1 are provided on both side walls of the material receiving groove 19a11, and both ends of each push-pull shaft 24b1 are slidably fitted into the corresponding push-pull shaft guiding slots 19a13, thus ensuring the synchronism of the operation of each waste removal push block 24b2 and avoiding jamming problems.

[0079] The active carriage 18a includes an active carriage base 18a1 fixedly installed on the slider of the corresponding fourth linear guide 19c, and an active carriage fixed mounting plate 18a2, an active carriage movable mounting plate 18a3 and an active carriage connecting seat 18a4 all installed on the active carriage base 18a1. The active carriage connecting seat 18a4 is fixedly installed at one end of the active carriage base 18a1 and is connected to the corresponding waste removal mechanism 24. The active carriage fixed mounting plate 18a2 is fixedly installed at the other end of the active carriage base 18a1. A first elongated hole 18a11 extending in the width direction of the bed 12 is provided in the middle of the active carriage base 18a1. The active carriage movable mounting plate 18a3 is slidably mounted in the first elongated hole 18a11 through at least two bolts that can be locked or unlocked. The fourth motor 19d is installed beside the active carriage connecting seat 18a4.

[0080] Similarly, the driven carriage 18b includes a driven carriage base 18b1 fixedly mounted on the slider corresponding to the fourth linear guide 19c, and a driven carriage fixed mounting plate 18b2, a driven carriage movable mounting plate 18b3, and a driven carriage connecting seat 18b4 all mounted on the driven carriage base 18b1. The driven carriage connecting seat 18b4 is fixedly mounted at one end of the driven carriage base 18b1 and is connected to the corresponding waste removal mechanism 24. The driven carriage fixed mounting plate 18b2 is fixedly mounted at the other end of the driven carriage base 18b1. A second elongated hole 18b11 extending in the width direction of the bed 12 is provided in the middle of the driven carriage base 18b1. The driven carriage movable mounting plate 18b3 is slidably fitted in the second elongated hole 18b11 through at least two bolts that can be locked or unlocked. Therefore, by adjusting the position of the active carriage movable mounting plate 18a3 on the active carriage base 18a1 and the position of the driven carriage movable mounting plate 18b3 on the driven carriage base 18b1, it is possible to adapt to workpieces of different sizes, and the versatility is good. Further, in the active carriage fixed mounting plate 18a2 and the driven carriage fixed mounting plate 18b2, one of them is provided with a bolt hole array composed of bolt holes distributed in an array, and the other is provided with a slot hole array composed of slot holes distributed in an array, which further improves the applicability to workpieces of different sizes.

[0081] Embodiment 2:

[0082] Please refer to Figures 24 - 26 , a comprehensive anti-collision control method for a three-dimensional laser cutting machine of Embodiment 1, which is carried out according to the following steps:

[0083] S1. Determine whether it is necessary to merge the two slides 17b according to the current processing task information: Yes, go to step S2; No, go to step S3 or step S4. That is, when the two slides 17b need to cooperate in processing, go to step S2. When the two slides 17b process independently, either step S3 or step S4 can be entered.

[0084] S2. Enter the anti-collision process for the coordinated processing of the two slides, which is carried out according to the following steps:

[0085] S21. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: Yes, go to the next step; No, stop the machine. If a motor does not have a position signal, it indicates that a collision has occurred or the motor has a fault. If the measured value of a force sensor is greater than the set value, it indicates that a collision has occurred. It should be noted that special attention should be paid to the two second motors 9, the two third motors 15, the two fifth motors 22, the four first force sensors 34, and the two second force sensors 38.

[0086] S22. Keep the passive magnet 41 magnetized. At the same time, disconnect the induction coil of the active electromagnet 44 from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit. Then, determine whether the induced electromotive force detection circuit outputs a working level (this working level can be a low level or a high level, depending on the actual situation): If yes, it means that the distance between the two sliding tables 17b is very close, and proceed to the next step; if no, return to step S21.

[0087] S23. Disconnect the induction coil of the active electromagnet 44 from the induced electromotive force detection circuit and connect it to the electromagnet power supply circuit. Then, adjust the electromagnet power supply circuit so that the magnetic poles of the active electromagnet 44 are opposite to those of the passive magnet 41. Each active electromagnet 44 attracts the corresponding passive magnet 41 to achieve preliminary positioning, and send a start signal. The positioning block driving device 46 makes each precise positioning block 45a respectively embed into the corresponding precise positioning groove 42 until it is detected that each precise positioning block 45a is completely embedded into the corresponding precise positioning groove 42 (usually, a position sensor is set on the positioning block driving device 46 to detect whether each precise positioning block 45a is completely embedded into the corresponding precise positioning groove 42), and then proceed to the next step.

[0088] S24. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: If yes, proceed to the next step; if no, it indicates that there is a motor fault or a collision, and stop the machine.

[0089] S25. Determine whether the current processing is completed: If yes, stop the machine; if no, return to step S24.

[0090] S3. Enter the anti-collision process for independent processing of the two sliding tables, and proceed according to the following steps:

[0091] S31. Read and determine whether all motors have position signals and whether the measured values of all force sensors are less than the set values: If yes, proceed to the next step; if no, it indicates that there is a motor fault or a collision, and stop the machine.

[0092] S32. Keep the passive magnet 41 magnetized. At the same time, disconnect the induction coil of the active electromagnet 44 from the induced electromotive force detection circuit and connect it to the electromagnet power supply circuit. Then, adjust the electromagnet power supply circuit so that the magnetic poles of the active electromagnet 44 are the same as those of the passive magnet 41. After completion, proceed to the next step.

[0093] S33. Read and determine whether all motors have position signals, whether the measured values of all force sensors are less than the set values, and whether the current change rates of the two fifth motors 22 are less than the set values: If yes, proceed to the next step; if no, it indicates that there is a risk of collision, and stop the machine.

[0094] S34. Determine whether the current processing is completed: If yes, stop the machine; if no, return to step S33.

[0095] By using the method of this step S3, even if a very low-probability collision accident of the sliding table occurs, since the repulsive force generated between each pair of passive magnets and active electromagnets increases rapidly as the distance between the two sliding tables decreases, it can effectively buffer the two sliding tables, greatly reducing the damage degree of the collision and being suitable for application scenarios with higher anti-collision requirements.

[0096] S4. Enter the anti-collision process for independent processing of the two sliding tables, and proceed according to the following steps:

[0097] S41. Read and judge whether all motors have position signals and whether the measured values of all force sensors are less than the set values: If yes, enter the next step; if no, it indicates that there is a motor failure or a collision, and stop the machine.

[0098] S42. Keep the passive magnet 41 magnetic, at the same time disconnect the induction coil of the active electromagnet 44 from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit, and then judge whether the induced electromotive force detection circuit outputs a working level: If yes, it indicates that there is a collision risk, and stop the machine; if no, enter the next step.

[0099] S43. Judge whether the current processing is completed: If yes, stop the machine; if no, return to step S41.

[0100] By using the method of this step S4, since there is no repulsive force between each pair of passive magnets and active electromagnets, the two sliding tables 17b run more smoothly at close range, being suitable for application scenarios with higher processing precision requirements.

[0101] In this embodiment, the electromagnet power supply circuit is provided with a relay K1, a first switching circuit and a second switching circuit, and the induced electromotive force detection circuit is provided with a rectifier bridge BR1 and an optocoupler OC1.

[0102] The first end of the induction coil of the active electromagnet 44 is connected to the input power supply and the normally open contact of the relay K1 through a first switching circuit, so that through the switching control of the first switching circuit, the first end of the induction coil of the active electromagnet 44 can be connected to either the input power supply or the normally open contact of the relay K1. That is: in the first mode of the first switching circuit, the first end of the induction coil of the active electromagnet 44 is connected to the input power supply (24V); in the second mode of the first switching circuit, the first end of the induction coil of the active electromagnet 44 is connected to the normally open contact of the relay K1. The second end of the induction coil of the active electromagnet 44 is connected to the input power supply or the input terminal of the relay K1 through a second switching circuit, so that through the switching control of the second switching circuit, the second end of the induction coil of the active electromagnet 44 can be connected to either the input power supply or the input terminal of the relay K1. That is: in the first mode of the second switching circuit, the second end of the induction coil of the active electromagnet 44 is connected to the input power supply; in the second mode of the second switching circuit, the second end of the induction coil of the active electromagnet 44 is connected to the input terminal of the relay K1. The common terminal of the first switching circuit and the normally open contact of the relay K1 is connected to the signal ground in series after passing through the ground switch, and this common terminal is also respectively connected to two AC input terminals of the rectifier bridge BR1 with the normally closed contact of the relay K1. The coil of the relay K1 is connected to the PLC controller, that is: the PLC controller controls the relay K1 by turning it on and off.

[0103] The positive pole of the DC output of the rectifier bridge BR1 is connected to the positive input terminal of the optocoupler OC1 after passing through the voltage-dividing resistor R1 in series. The negative pole of the DC output of the rectifier bridge BR1 is connected to the negative input terminal of the optocoupler OC1. A capacitor C1 is connected in series between the positive and negative poles of the DC output of the rectifier bridge BR1. The rear end of the voltage-dividing resistor R1 is connected to the negative input terminal of the optocoupler OC1 after passing through the zener diode ZD1 in series, and this rear end is also connected to the negative input terminal of the optocoupler OC1 after passing through the variable resistor RP1 in series. The positive output terminal of the optocoupler OC1 with the negative pole connected is connected to the input power supply, and this output positive terminal is also connected to the PLC controller. The negative output terminal of the optocoupler OC1 with the negative pole connected is connected to the signal ground.

[0104] Among them, the first switching circuit and the second switching circuit have the following two implementation manners:

[0105] Implementation manner 1 of the first switching circuit and the second switching circuit: Please refer to Figure 25 , the first switching circuit is provided with the MOS transistor Q1 and the MOS transistor Q3, the second switching circuit is provided with the MOS transistor Q2 and the MOS transistor Q4, the ground switch is the MOS transistor Q5, the first end of the induction coil of the active electromagnet 44 is simultaneously connected to the source electrode of the MOS transistor Q1 and the drain electrode of the MOS transistor Q3, and the second end of the induction coil of the active electromagnet 44 is simultaneously connected to the source electrode of the MOS transistor Q2 and the drain electrode of the MOS transistor Q4.

[0106] The drain of MOS transistor Q1 is connected to the input power supply. This drain is also connected to the cathode of diode D1. The anode of diode D1 is connected to the source of MOS transistor Q1. The gate of MOS transistor Q1 is connected to the PLC controller after being connected in series with voltage-dividing resistor R2. This gate is also connected to the signal ground after being connected in series with voltage-dividing resistor R3. The source of MOS transistor Q3 is connected to the normally open contact of relay K1. This source is also connected to the drain of MOS transistor Q5. This source is also connected to the anode of diode D3. The cathode of diode D3 is connected to the drain of MOS transistor Q3. The gate of MOS transistor Q3 is connected to the PLC controller after being connected in series with voltage-dividing resistor R6. This gate is also connected to the signal ground after being connected in series with voltage-dividing resistor R7. The drain of MOS transistor Q2 is connected to the input power supply. This drain is also connected to the cathode of diode D2. The anode of diode D2 is connected to the source of MOS transistor Q2. The gate of MOS transistor Q2 is connected to the PLC controller after being connected in series with voltage-dividing resistor R4. This gate is also connected to the signal ground after being connected in series with voltage-dividing resistor R5. The source of MOS transistor Q4 is connected to the input terminal of relay K1. This source is also connected to the anode of diode D4. The cathode of diode D4 is connected to the drain of MOS transistor Q4. The gate of MOS transistor Q4 is connected to the PLC controller after being connected in series with voltage-dividing resistor R8. This gate is also connected to the signal ground after being connected in series with voltage-dividing resistor R9. The source of MOS transistor Q5 is grounded. The gate of MOS transistor Q5 is connected to the PLC controller after being connected in series with voltage-dividing resistor R10. This gate is also connected to the signal ground after being connected in series with voltage-dividing resistor R11.

[0107] The normally closed contact of relay K1 is connected to the induced electromotive force detection circuit. At this time, the coil of relay K1 is in a power-off state.

[0108] When MOS transistors Q1, Q4, and Q5 are in the conducting state, and MOS transistors Q2 and Q3 are in the off state, the input terminal of relay K1 connects to the normally open contact. At this time, the magnetic field polarity generated by the current in the induction coil of the active electromagnet 44 is opposite to the polarity of the passive magnet 41, so they attract each other. This is the combination process of the two sliders 17b. When MOS transistors Q2, Q3, and Q5 are in the conducting state, and MOS transistors Q1 and Q4 are in the off state, the input terminal of relay K1 connects to the normally open contact, and the magnetic field polarity generated by the current in the induction coil of the active electromagnet 44 is the same as the polarity of the passive magnet 41, so they repel each other, which can prevent the two sliders 17b from colliding. When the two sliders are far apart, MOS transistors Q3 and Q4 are in the conducting state, and MOS transistors Q1, Q2, and Q5 are in the off state. The coil of relay K1 is powered off, and the input terminal of relay K1 connects to the normally closed contact. At this time, the active electromagnet 44 is powered off, and the induction coil of the active electromagnet 44 is connected to the induction electromotive force detection circuit. If an induction electromotive force is generated when the active electromagnet 44 approaches the passive magnet 41, after being rectified and filtered by the rectifier bridge BR1, it passes through the resistor voltage division circuit and is isolated by the optocoupler OC1 to give a level signal to the PLC controller. The voltage division circuit includes a variable resistor RP1 and a voltage dividing resistor R1. By adjusting the resistance value of the variable resistor RP1, the trigger distance can be set. According to this level signal and whether it is necessary to combine the two sliders 17b, the circuit conversion state is judged. At the same time, in order to prevent the induction electromotive force from being too large and damaging the optocoupler OC1, a zener diode ZD1 is also provided.

[0109] Embodiment 2 of the first switching circuit and the second switching circuit: The first switching circuit is provided with a relay K2, the second switching circuit is provided with a relay K3, and the grounding switch is a relay K4. The two ends of the induction coil of the active electromagnet 44 are respectively connected to the input terminals of the relay K2 and the relay K3. The normally open contacts of the relay K2 and the relay K3 are both connected to the input power supply. The normally closed contact of the relay K3 is connected to the input terminal of the relay K1. The normally closed contact of the relay K2 is connected to the normally open contact of the relay K1, and this normally closed contact is also connected to the input terminal of the relay K4. The normally open contact of the relay K4 is grounded. The coils of the relay K2, the relay K3, and the relay K4 are all connected to the PLC controller, that is, the PLC controller controls the relays K2, K3, and K4 by turning on and off the power.

[0110] When the input terminal of relay K2 is connected to the normally open contact, the input terminal of relay K3 is connected to the normally closed contact, and the input terminal of relay K4 is connected to the normally open contact, the input terminal of relay K1 is connected to the normally open contact. At this time, the magnetic field polarity generated by the current in the induction coil of the active electromagnet 44 is opposite to the polarity of the passive magnet 41, so they attract each other. This is the combination process of the two sliders 17b. When the input terminal of relay K2 is connected to the normally closed contact, the input terminal of relay K3 is connected to the normally open contact, and the input terminal of relay K4 is connected to the normally open contact, the input terminal of relay K1 is connected to the normally open contact. Then, the magnetic field polarity generated by the current in the induction coil of the active electromagnet 44 is the same as the polarity of the passive magnet 41, so they repel each other, which can prevent the two sliders 17b from colliding. When the two sliders are far apart, the input terminal of relay K2 is connected to the normally closed contact, the input terminal of relay K3 is connected to the normally closed contact, and the input terminal of relay K4 is connected to the normally closed contact, and the input terminal of relay K1 is connected to the normally closed contact. At this time, the active electromagnet 44 is powered off, and the induction coil of the active electromagnet 44 is connected to the induction electromotive force detection circuit. If an induction electromotive force is generated when the active electromagnet 44 approaches the passive magnet 41, after being rectified and filtered by the rectifier bridge BR1, it passes through the resistor voltage division circuit and is isolated by the optocoupler OC1 to give a level signal to the PLC controller.

[0111] Finally, it should be noted that the above description is only the preferred embodiment of the present invention. Under the inspiration of the present invention, those of ordinary skill in the art can make various similar representations without violating the purpose and claims of the present invention. Such transformations all fall within the protection scope of the present invention.

Claims

1. A comprehensive anti-collision control method for a three-dimensional laser cutting machine, characterized in that: Follow these steps: S1. Determine whether it is necessary to merge two slides according to the current processing task information: if yes, proceed to step S2; if no, proceed to step S3 or step S4; S2, enter the two slides collaborative processing anti-collision process, follow the steps below: S21, read and determine whether all motors have position signals and whether the measured values ​​of all force sensors are less than the set values: if yes, proceed to the next step; No, shut down; S22, keep the passive magnet magnetic, disconnect the induction coil of the active electromagnet from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit, and then determine whether the induced electromotive force detection circuit outputs a working level: if yes, proceed to the next step; No, return to step S21; S23, the induction coil of the active electromagnet is disconnected from the induced electromotive force detection circuit and connected to the electromagnet power supply circuit, and then the electromagnet power supply circuit is adjusted so that the magnetic pole of the active electromagnet is opposite to the magnetic pole of the passive magnet, until it is detected that each precise positioning block is completely embedded in the corresponding precise positioning groove, and then the next step is entered; S24, read and determine whether all motors have position signals and whether the measured values ​​of all force sensors are less than the set values: if yes, proceed to the next step; No, shut down; S25, determine whether the current processing is completed: if yes, stop; No, return to step S24; S3, enter the two slide independent processing anti-collision process, follow the steps below: S31, read and determine whether all motors have position signals and whether the measured values ​​of all force sensors are less than the set values: if yes, proceed to the next step; No, shut down; S32, keep the passive magnet magnetic, disconnect the induction coil of the active electromagnet from the induced electromotive force detection circuit and connect it to the electromagnet power supply circuit, and then adjust the electromagnet power supply circuit to make the magnetic pole of the active electromagnet the same as the magnetic pole of the passive magnet, and then proceed to the next step; S33, read and determine whether all motors have position signals, whether the measured values ​​of all force sensors are less than the set values, and whether the current change rates of the two fifth motors are less than the set values: if yes, proceed to the next step; No, shut down; S34, determine whether the current processing is completed: if yes, stop; No, return to step S33; S4, enter the two slide independent processing anti-collision process, follow the steps below: S41, read and determine whether all motors have position signals and whether the measured values ​​of all force sensors are less than the set values: if yes, proceed to the next step; No, shut down; S42, keep the passive magnet magnetic, disconnect the induction coil of the active electromagnet from the electromagnet power supply circuit and connect it to the induced electromotive force detection circuit, and then determine whether the induced electromotive force detection circuit outputs a working level: if yes, stop; if no, proceed to the next step; S43, judging whether the current processing is completed: if yes, stop the machine; No, return to step S41.

2. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 1, characterized in that: The electromagnet power supply circuit is provided with a relay K1, a first switching circuit and a second switching circuit, and the induced electromotive force detection circuit is provided with a rectifier bridge BR1 and an optical coupler OC1; The first end of the induction coil of the active electromagnet is connected to the input power supply and the normally open contact of the relay K1 through the first switching circuit, so that the first end of the induction coil of the active electromagnet can be connected to the input power supply or the normally open contact of the relay K1 through the switching control of the first switching circuit; The second end of the induction coil of the active electromagnet is connected to the input power supply or the input end of the relay K1 through the second switching circuit, so that the second end of the induction coil of the active electromagnet can be connected to the input power supply or the input end of the relay K1 through the switching control of the second switching circuit; The common end of the first switching circuit and the normally open contact of the relay K1 is connected in series with a grounding switch and then grounded. The common end and the normally closed contact of the relay K1 are respectively connected to the two AC input ends of the rectifier bridge BR1. The coil of the relay K1 is connected to the PLC controller, so that the coil of the relay K1 can be powered on and off through the PLC controller. The DC output positive electrode of the rectifier bridge BR1 is connected in series with a voltage-dividing resistor R1 and then connected to the positive input terminal of the optocoupler OC1. The DC output negative electrode of the rectifier bridge BR1 is connected to the negative input terminal of the optocoupler OC1. A capacitor C1 is connected in series between the DC output positive electrode and the DC output negative electrode of the rectifier bridge BR1. The rear end of the voltage-dividing resistor R1 is connected in series with a voltage-stabilizing diode ZD1 and then connected to the negative input terminal of the optocoupler OC1. The rear end is also connected in series with a variable resistor RP1 and then connected to the negative input terminal of the optocoupler OC1. The negative electrode is connected to the output positive terminal of the optocoupler OC1 and then connected to the input power supply. The output positive terminal is also connected to the PLC controller, and the negative electrode is connected to the output negative terminal of the optocoupler OC1 and then connected to the signal ground.

3. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 2, characterized in that: The first switching circuit is provided with a MOS transistor Q1 and a MOS transistor Q3, the second switching circuit is provided with a MOS transistor Q2 and a MOS transistor Q4, the grounding switch is a MOS transistor Q5, the first end of the induction coil of the active electromagnet is simultaneously connected to the source of the MOS transistor Q1 and the drain of the MOS transistor Q3, and the second end of the induction coil of the active electromagnet is simultaneously connected to the source of the MOS transistor Q2 and the drain of the MOS transistor Q4; The drain of the MOS tube Q1 is connected to the input power supply, and the drain is also connected to the cathode of the diode D1. The anode of the diode D1 is connected to the source of the MOS tube Q1. The gate of the MOS tube Q1 is connected to the PLC controller in series with the voltage-dividing resistor R2. The gate is also connected to the signal ground in series with the voltage-dividing resistor R3. The source of the MOS tube Q3 is connected to the normally open contact of the relay K1, the source is also connected to the drain of the MOS tube Q5, the source is also connected to the anode of the diode D3, the cathode of the diode D3 is connected to the drain of the MOS tube Q3, the gate of the MOS tube Q3 is connected to the PLC controller in series with the voltage-dividing resistor R6, and the gate is also connected to the signal ground in series with the voltage-dividing resistor R7; The drain of the MOS tube Q2 is connected to the input power supply, and the drain is also connected to the cathode of the diode D2. The anode of the diode D2 is connected to the source of the MOS tube Q2. The gate of the MOS tube Q2 is connected to the PLC controller in series with the voltage-dividing resistor R4. The gate is also connected to the signal ground in series with the voltage-dividing resistor R5. The source of the MOS tube Q4 is connected to the input end of the relay K1, and the source is also connected to the anode of the diode D4. The cathode of the diode D4 is connected to the drain of the MOS tube Q4. The gate of the MOS tube Q4 is connected to the PLC controller in series with the voltage-dividing resistor R8. The gate is also connected to the signal ground in series with the voltage-dividing resistor R9. The source of the MOS transistor Q5 is grounded, the gate of the MOS transistor Q5 is connected in series with a voltage-dividing resistor R10 and then connected to a PLC controller, and the gate is also connected in series with a voltage-dividing resistor R11 and then connected to a signal ground.

4. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 2, characterized in that: The first switching circuit is provided with a relay K2, the second switching circuit is provided with a relay K3, the grounding switch is a relay K4, the two ends of the induction coil of the active electromagnet are respectively connected to the input end of the relay K2 and the input end of the relay K3, the normally open contact of the relay K2 and the normally open contact of the relay K3 are both connected to the input power supply, the normally closed contact of the relay K3 is connected to the input end of the relay K1, the normally closed contact of the relay K2 is connected to the normally open contact of the relay K1, and the normally closed contact is also connected to the input end of the relay K4, the normally open contact of the relay K4 is grounded, and the coils of the relay K2, the relay K3 and the relay K4 are all connected to the PLC controller, so that the coils of the relay K2, the relay K3 and the relay K4 can be controlled to be on and off by the PLC controller.

5. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 1, characterized in that: The three-dimensional laser cutting machine includes a bed, a track slide conveying mechanism and two sets of beam modules, the track slide conveying mechanism includes a slide track and two slides that can slide along the slide track driven by a slide drive assembly, both ends of the bed in the length direction are provided with slide inlets and outlets, the slide track passes through the two slide inlets and outlets simultaneously in the length direction, and the two sets of beam modules are parallel to each other and spanned on the top of the bed in the width direction, and both can move along the length direction of the bed; The crossbeam modules include a crossbeam, a Y-axis slide, a Z-axis sleeve and a laser cutting head. The middle part of the crossbeam has a Z-axis sleeve clearance groove extending along its length direction. The Y-axis slide can move along the length direction of the crossbeam under the control of the slide drive assembly. The Z-axis sleeve can be lifted and lowered along the Y-axis slide under the control of the sleeve drive assembly and is inserted into the Z-axis sleeve clearance groove. The laser cutting head is installed at the bottom of the Z-axis sleeve. High-rigidity linear guides extending along the length direction of the crossbeam are fixedly installed in parallel on both side walls of the Z-axis sleeve clearance groove. High-rigidity support blocks extending along the width direction of the crossbeam are fixedly installed on both sides of the Y-axis slide along the length direction of the crossbeam. Both ends of the high-rigidity support block are respectively fixedly connected and supported between corresponding sliders of two high-rigidity linear guides. A first hydraulic buffer extending in a direction away from the Z-axis sleeve is installed on the side of the high-rigidity support block away from the Z-axis sleeve, and a first force sensor facing the adjacent first hydraulic buffer is installed on the side of the end connection seat close to the Z-axis sleeve; A second oil pressure buffer and a second force sensor are provided on the sides of the two cross beams close to each other, wherein the second oil pressure buffer of one cross beam faces the second force sensor of the other cross beam, and the second force sensor of the cross beam faces the second oil pressure buffer of the other cross beam; At least one pair of male bases and female bases facing each other are respectively installed on the outer edges of the two slides on one side close to each other, and the female bases are each provided with a passive magnet and at least one precise positioning groove, and the male bases are each provided with an active electromagnet, a precise positioning block corresponding to each precise positioning groove, and a positioning block driving device for driving each precise positioning block to move synchronously, each passive magnet faces each active electromagnet one by one, and the magnetic pole of each passive magnet can be synchronously switched to be the same or opposite to the magnetic pole of the corresponding active electromagnet; When the magnetic poles of each passive magnet are opposite to the magnetic poles of the corresponding active electromagnet and the two slides are close to each other, each passive magnet can be attracted to the corresponding active electromagnet, so that the positioning block driving device can drive the inclined surfaces of each precise positioning block to fit synchronously into the corresponding precise positioning groove.

6. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 5, characterized in that: A translation guide rod extending in a horizontal direction toward the corresponding male base is fixedly installed on the female base, and a translation sleeve capable of moving along its axial direction and a reset spring for making the translation sleeve have a tendency to move outward are mounted on the translation guide rod, and two ends of the reset spring are respectively fixedly connected to the inner end of the translation sleeve and the inner end of the translation guide rod, and a magnet mounting seat is fixedly mounted on the translation sleeve, and the passive magnet is fixedly mounted on a side of the magnet mounting seat close to the corresponding active electromagnet.

7. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 5, characterized in that: The crossbeam includes two parallel bar slides and two end connection seats fixedly connected to the two ends of the two bar slides, the gap between the two bar slides forms the Z-axis sleeve clearance groove, the Y-axis slide can slide along the two bar slides under the control of the slide drive assembly, and the high-rigidity linear guide rail is installed on one side wall of the two bar slides close to each other; On one side wall of the two strip slides close to each other, there are recessed guide support grooves along the length direction to match the corresponding ends of the high-rigidity support blocks. The two high-rigidity linear guide rails are fixedly installed on the bottom of the corresponding guide support grooves. The two ends of the high-rigidity support blocks are respectively embedded in the corresponding guide support grooves, and the upper and lower side walls at both ends of the high-rigidity support blocks are respectively in contact with the side wall surfaces of the corresponding guide support grooves.

8. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 5, characterized in that: The slide drive assembly includes two second linear guide rails, a second rack, and a second motor fixedly mounted on the Y-axis slide; The upper parts of the two bar-shaped slide seats have upper support surfaces that are both inclined, and the two upper support surfaces are symmetrically inclined downward in a direction away from each other. The upper support surfaces are each provided with a mounting boss, and the mounting bosses are each extended along the length direction of the corresponding upper support surface. The two mounting bosses are each protruded to form a supporting rib on one side away from each other, and the mounting bosses are each installed with the second linear guide rail extending along the length direction thereof, and the slide rails of each second linear guide rail are respectively supported on the corresponding supporting ribs; One of the upper supporting surfaces is formed with a rack mounting horizontal surface extending in the horizontal direction on a side close to the Z-shaft sleeve clearance groove, and a rack mounting pad extending in the length direction of the Z-shaft sleeve clearance groove is installed on the rack mounting horizontal surface. The top surface of the rack mounting pad is protruding on the side away from the Z-shaft sleeve clearance groove to form a rack supporting rib, and the rack mounting pad is provided with the second rack extending in its length direction, and the second rack is supported on the rack supporting rib, and the motor shaft of the second motor is synchronously rotated with a second driving gear meshing with the second rack.

9. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 8, characterized in that: The sleeve drive assembly includes a first rack, at least two first linear guide rails, and a first motor fixedly mounted on the Y-axis slide; The Z-axis sleeves each include a flat cylinder portion with a cylindrical structure and a cylindrical portion coaxially integrally formed at the bottom of the flat cylinder portion, the cylindrical portion is provided with the laser cutting head extending downwardly, the outer walls on both sides of the width direction of the flat cylinder portion are lifting guide planes parallel to each other, the spacing between two adjacent lifting guide planes is smaller than the diameter of the corresponding cylindrical portion, each lifting guide plane is provided with at least one first linear guide rail extending in the vertical direction, one of the lifting guide planes of the Z-axis sleeve is provided with the first rack extending in the vertical direction, the Y-axis slides are respectively mounted on the outside of the corresponding flat cylinder portion, and the motor shaft of the first motor is provided with a first driving gear meshing with the first rack in a synchronously rotating manner.

10. The comprehensive anti-collision control method for a three-dimensional laser cutting machine according to claim 9, characterized in that: The circumferential outer wall of the flat cylinder portion is formed by two oppositely disposed lifting guide planes and two oppositely disposed arcuate surfaces, the arcuate surfaces are all arcuate structures convex outward, and the lifting guide planes and the arcuate surfaces both extend in the vertical direction; The Y-axis sliding seat of the annular structure is surrounded by two relatively arranged slider mounting assemblies and two relatively arranged buckle assemblies. The slider mounting assemblies each include a crossbeam slider mounting seat and two sleeve slider mounting seats. The crossbeam slider mounting seat includes a vertical mounting plate extending vertically and a slider connecting plate formed by bending outward from the bottom of the vertical mounting plate. The two slider connecting plates are respectively parallel to the corresponding upper supporting surfaces and are each provided with a Y-direction slider connecting structure. The four sleeve slider mounting seats are each provided with a Z-direction slider connecting structure. The outer sides of the sleeve slider mounting seats are each provided with a connecting boss adapted to the corresponding vertical mounting plate, and each connecting boss can be respectively adjusted to be installed on the inner side of the corresponding vertical mounting plate. The buckle assemblies each consist of at least one vertically arranged buckle, and both ends of each buckle are bent inwardly to form a buckle connecting arm. The side walls of each connecting boss are each provided with a connecting arm slot adapted to the corresponding buckle connecting arm, and each buckle connecting arm can be respectively adjusted to be installed in the corresponding connecting arm slot. Two first linear guide rails extending in the vertical direction are installed on the two lifting guide planes, two slider mounting assemblies are arranged one-to-one on the outside of the two lifting guide planes, two buckle assemblies are arranged one-to-one on the outside of the two arc-shaped surfaces, four Z-direction slider connection structures are fixedly connected to the sliders of the four first linear guide rails one-to-one, and the first motor is installed on the beam slider mounting seat close to the first rack; The two Y-direction slider connection structures are fixedly connected to the sliders of the two second linear guide rails in a one-to-one correspondence, and the second motor is installed on the beam slider mounting seat away from the first rack; The lower parts of the four slider connection structures are all provided with support block mounting seats matched with the high-rigidity support blocks, and the four support block mounting seats are fixedly mounted with the high-rigidity support blocks in groups of two.

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