Safety protection structure of three-dimensional laser cutting system

Abstract

The invention discloses a safety protection structure of a three-dimensional laser cutting system. Two first safety laser scanners which are adjacent to a corresponding feeding and discharging conveying opening respectively are arranged outside a protection fence, and a second safety laser scanner which directly faces a waste conveying opening is arranged at a lateral inlet and outlet. By means of the safety protection structure of the three-dimensional laser cutting system, the two first safety laser scanners can accurately monitor the entering and exiting conditions of personnel or automatic transfer equipment at all entrances and exits and the distances between the personnel or the automatic transfer equipment and the entrances and exits in real time; and the accurate positions of personnel or automatic transfer equipment on the inner side and the outer side of the waste conveying opening can be accurately monitored through a second safety laser scanner, so that grading early warning based on the positions is achieved through mutual cooperation, the safety of the personnel and the equipment is guaranteed while efficient operation of the equipment is guaranteed, comprehensive safety protection is provided, and the working efficiency is improved. And particularly, the application requirement of full-automatic production is met.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial equipment safety protection, and particularly relates to a safety protection structure for a three-dimensional laser cutting system. Background Art

[0002] A three-dimensional laser cutting system mainly consists of a three-dimensional laser cutting machine and a robotic arm for loading and unloading in coordination. Currently, in order to ensure the efficiency of laser cutting processing, a series of three-dimensional laser cutting machines with double sliding tables, such as those with the publication number CN220698527U, have emerged on the market. The two sliding tables can independently perform the loading and unloading processes for two groups of small workpieces (the two groups of small workpieces can be the same or different), and can also cooperate to perform the loading and unloading for large workpieces, so that the two laser cutting heads can simultaneously process two groups of small workpieces and can also cooperate to process large workpieces.

[0003] During the operation of the three-dimensional laser cutting system, workers or automated transfer equipment (such as an AGV cart) are required to stack the workpieces to be processed beside the robotic arm and transfer away the qualified, unqualified, and waste workpieces after processing, so as to cooperate with the three-dimensional laser cutting machine to achieve efficient laser cutting processing without stopping. Therefore, corresponding safety risks have emerged in each link. Any safety risk may cause significant losses to personnel or equipment.

[0004] Therefore, it is of great significance to design a safety protection structure specifically for the three-dimensional laser cutting system. Summary of the Invention

[0005] In view of this, the present invention provides a safety protection structure for a three-dimensional laser cutting system.

[0006] The technical solution is as follows:

[0007] The first aspect of the present application relates to a safety protection structure for a three-dimensional laser cutting system, including a three-dimensional laser cutting machine and two robotic arms. The three-dimensional laser cutting machine includes a bed, a rail and slide table conveying mechanism, and two sets of crossbeam modules. Both ends of the bed in the length direction are provided with slide table inlets and outlets. The rail and slide table conveying mechanism includes a slide table rail that passes through both slide table inlets and outlets simultaneously, and two slide tables that can slide along the slide table rail driven by a slide table drive assembly. The two sets of crossbeam modules are arranged parallel to each other across the top of the bed in the width direction and can both move along the length direction of the bed under the control of a crossbeam drive assembly. On one side of the bed in the width direction, there is a side inlet and outlet. The side inlet and outlet and the two slide table inlets and outlets are enclosed by a protective fence to form a working area. The two robotic arms are respectively located on both sides of the side inlet and outlet and are adjacent to the corresponding slide table inlets and outlets. Around each robotic arm, there are successively arranged a stack area for workpieces to be processed, a stack area for qualified workpieces, and a stack area for unqualified workpieces in the working area. The protective fence is provided with a waste material transportation opening facing the side inlet and outlet, and two loading and unloading transportation openings respectively facing the corresponding slide table inlets and outlets. The two stack areas for unqualified workpieces are symmetrically arranged on both sides of the waste material transportation opening. The two sets of stack areas for workpieces to be processed and qualified workpieces are respectively exposed and arranged at the corresponding loading and unloading transportation openings. Outside the protective fence, there are two first safety laser scanners respectively adjacent to the corresponding loading and unloading transportation openings. The two first safety laser scanners are symmetrically arranged on both sides of the waste material transportation opening to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transportation opening and the two loading and unloading transportation openings. At the side inlet and outlet, there is a second safety laser scanner facing the waste material transportation opening to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transportation opening and the side inlet and outlet.

[0008] By adopting the above safety protection structure for the three-dimensional laser cutting system, it is not only possible to accurately monitor in real time the entry and exit of personnel or automated transfer equipment (such as AGV carts) at each entrance and exit and their distances from the entrances and exits through the two first safety laser scanners, but also possible to accurately monitor the precise positions of personnel or automated transfer equipment on both the inside and outside sides of the waste material transportation opening through the second safety laser scanner, so as to cooperate with each other to achieve position-based hierarchical early warning, ensure the safety of personnel and equipment while the equipment is operating efficiently, provide comprehensive safety protection, and particularly meet the application requirements for realizing fully automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a schematic structural diagram of the first perspective of the present invention;

[0010] Figure 2 It is a schematic structural diagram of the second perspective of the present invention;

[0011] Figure 3 It is a schematic structural diagram of the third perspective of the present invention;

[0012] Figure 4 It is a schematic structural diagram of a three-dimensional laser cutting machine;

[0013] Figure 5 It is a schematic structural diagram of an orbital sliding table conveying mechanism;

[0014] Figure 6 It is Figure 5 A schematic diagram after removing the sliding table dust-proof plates on two sliding tables;

[0015] Figure 7 It is a schematic diagram of the mating relationship between the male base and the structures thereon and the female base and the structures thereon;

[0016] Figure 8 It is Figure 7 A sectional view of;

[0017] Figure 9 It is a schematic diagram of the mating relationship between the male base and the structures thereon;

[0018] Figure 10 It is a schematic diagram of the mating relationship between the female base and the structures thereon;

[0019] Figure 11 It is a schematic diagram of the mating relationship of one view of the sliding table and the structures thereon;

[0020] Figure 12 It is a schematic diagram of the mating relationship of another view of the sliding table and the structures thereon;

[0021] Figure 13 It is a schematic structural diagram of a material rejection push block;

[0022] Figure 14 It is a schematic structural diagram of a bed body;

[0023] Figure 15 It is a schematic structural diagram of a crossbeam module;

[0024] Figure 16 It is a schematic structural diagram of a crossbeam;

[0025] Figure 17 It is a schematic structural diagram of a Z-axis sleeve from one perspective;

[0026] Figure 18 It is a schematic structural diagram of a Z-axis sleeve from another perspective;

[0027] Figure 19 It is a schematic installation structure diagram of a Z-axis sleeve and a Y-axis sliding seat from one perspective;

[0028] Figure 20 It is a schematic installation structure diagram of a Z-axis sleeve and a Y-axis sliding seat from another perspective;

[0029] Figure 21 Schematic diagram of the Y-axis slide

[0030] Figure 22 Schematic diagram of one of the slider mounting assemblies

[0031] Figure 23 Schematic diagram of another slider mounting assembly

[0032] Figure 24 Schematic diagram of the sleeve slider mounting base

[0033] Figure 25 Schematic diagram of the buckle Specific embodiments

[0034] The present invention will be further described below in conjunction with embodiments and the accompanying drawings.

[0035] As Figures 1 - 25 shown, a safety protection structure of a three-dimensional laser cutting system mainly includes a three-dimensional laser cutting machine and two robotic arms 27. The three-dimensional laser cutting machine includes a bed 12, a rail slide table conveying mechanism 17, and two sets of crossbeam modules.

[0036] Sliding table inlets and outlets 12c are provided at both ends of the bed 12 in the length direction, and a side inlet and outlet 12d is provided on one side of the bed 12 in the width direction. Two waste collection bins 25 are arranged side by side at the side inlet and outlet 12d. Specifically, the bed 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 into 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 fixed to the tops of the four columns 12a. Another column 12a is supported at the middle position of one of the main beams 12b1, so that sliding table inlets and outlets 12c are formed under both side beams 12b2 of the bed 12, that is: the two sliding table inlets and outlets 12c are located at both ends of the bed 12 in the length direction; at the same time, a side inlet and outlet 12d is formed under the main beam 12b1 of the bed 12 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 12 in the width direction. Among them, the extending direction of the two main beams 12b1 is the length direction of the bed 12, the extending direction of the two side beams 12b2 is the width direction of the bed 12, and the extending direction of the column 12a is the height direction of the bed 12. The above design not only ensures the structural strength and stiffness of the bed, but also facilitates the expansion and arrangement of functions at the side inlet and outlet 12d position.

[0037] In this embodiment, each of the columns 12a includes a column body 12a1 extending in the vertical direction, and 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 plurality of column reinforcing plates 12a4 extending in the vertical direction are installed on the circumference of the column body 12a1. The top parts of the column reinforcing plates 12a4 are respectively fixedly connected to the corresponding column top plates 12a2, and the bottom parts of the column reinforcing plates 12a4 are respectively fixedly connected to the corresponding column bottom plates 12a3. Therefore, the structural strength and stiffness of each column 12a are greatly improved, thereby further improving the structural strength and stiffness of the bed body 12. Further, in order to improve the structural strength and stiffness 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 and stiffness 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.

[0038] The rail sliding table conveying mechanism 17 includes a sliding table rail 17a and two sliding tables 17b that can slide along the sliding table rail 17a driven by a sliding table drive assembly. The sliding table rail 17a passes through two sliding table inlets and outlets 12c in the length direction. The sliding table drive assembly includes a fifth rack 21 and two fifth linear guide rails 20 installed in parallel on the sliding table rail 17a, and fifth motors 22 respectively installed on the sliding tables 17b. The two sliding tables 17b are respectively fixedly installed on the corresponding sliders of the two fifth linear guide rails 20. Fifth drive gears 23 meshing with the fifth rack 21 are synchronously sleeved on the motor shafts of the fifth motors 22. Therefore, by driving the fifth drive gears 23 to rotate forward and backward through the motor shafts of the fifth motors 22, the translation of the sliding tables 17b can be driven, and the control accuracy is high. Further, the fifth motor 22 is preferably a servo motor, which can further improve the precision control of the translation of the sliding tables 17b.

[0039] In this embodiment, at least one pair of mating male bases 43 and female bases 40 that face each other are respectively installed on the outer edges of the two sliding 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 respectively corresponding 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. The passive magnets 41 and the active electromagnets 44 face each other one by one, and the magnetic poles 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.

[0040] When the two sliding tables independently load and unload and process small workpieces respectively, the magnetic poles of each pair of passive magnets and active electromagnets can be switched to the same. Even if a sliding table collision accident with an extremely low probability 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 and greatly reduce the damage degree of the collision. When the two sliding tables need to cooperate to process large workpieces, first switch the magnetic poles of each pair of passive magnets and active electromagnets to the opposite. Thus, when the two sliding tables approach, through the mutual adsorption of each pair of passive magnets and active electromagnets, rapid initial positioning and preliminary combination of the two sliding tables can be achieved. Moreover, the magnetic induction signals of the passive magnets and active electromagnets can also serve as the start signals for the positioning block driving devices, enabling each positioning block driving device to drive each precise positioning block to be respectively inserted into the corresponding precise positioning groove. Due to the inclined surface fit between each precise positioning block and precise positioning groove, extremely precise positioning and extremely reliable combination of the two sliding tables can be achieved, so that the two sliding tables are completely rigidly combined into one body. Furthermore, it can cooperate with the crossbeam module to achieve laser cutting processing with extremely high precision, meeting the needs of application scenarios with ultra-high processing precision.

[0041] 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 a tendency to move outwards 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 the start signal of the positioning block driving device 46 is provided. Then, the final precise positioning is achieved through the inclined surface fit 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 have a tendency 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 also it can buffer and absorb energy from 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 fit between the precise positioning block 45a and the precise positioning groove 42, ensuring the final positioning accuracy.

[0042] In this embodiment, the circumferential groove walls of the precise positioning groove 42 are all enclosed by four inclined planes 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 part of the precise positioning block 45a that can be embedded in the precise positioning groove 42 are four inclined planes, and the four inclined planes are respectively matched with the corresponding groove wall inclined planes of the precise positioning groove 42. Correspondingly, the inclination angles of the four inclined planes are respectively equal to the inclination angles of the corresponding 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 planes with extremely small angles of the precise positioning groove 42, 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 cylinders, which ensures a lightweight design. At the same time, dust-proof plug blocks 45b are installed at the opening 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 position, the dust-proof baffle plates 51 can block the gap 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.

[0043] Sliding table dust-proof plates 52 are respectively installed on the outer edges of the two sliding tables 17b on the side where they are close to each other. The sliding table dust-proof plates 52 both have shielding parts 52a that first extend upward and then extend horizontally outward beyond the corresponding male base 43 or female base 40. When the two sliding tables 17b independently process workpieces, the shielding parts 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 parts 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 baffles 52b are also provided at both ends of the shielding part 52a. When the respective passive magnets 41 are respectively adsorbed to the corresponding active electromagnets 44, the two end baffles 52b at both ends are also engaged with each other, further improving the shielding effect.

[0044] In this embodiment, a working area is formed by enclosing the side inlet / outlet 12d and the two slide table inlets / outlets 12c with a protective fence 60. The overall working area is approximately rectangular. Each of the two robotic arms 27 performs tasks such as loading / unloading and transferring and marking for one slide table 17b. The two robotic arms 27 are respectively located on both sides of the side inlet / outlet 12d and are respectively adjacent to the corresponding slide table inlets / outlets 12c. Around each robotic arm 27, there are successively arranged a stack area 61 for workpieces to be processed, a stack area 62 for qualified workpieces, and a stack area 63 for unqualified workpieces in the working area. A waste material transport opening 60a (usually used to transfer unqualified workpieces in the stack area 63 for unqualified workpieces away and for cleaning or replacing the waste collection box 25) facing the side inlet / outlet 12d and two loading / unloading transport openings 60b (usually used to replenish materials to the stack area 61 for workpieces to be processed and to transfer qualified workpieces in the stack area 62 for qualified workpieces away) respectively facing the corresponding slide table inlets / outlets 12c are provided on the protective fence 60. The two stack areas 63 for unqualified workpieces are symmetrically arranged on both sides of the waste material transport opening 60a. The two groups of stack areas 61 for workpieces to be processed and stack areas 62 for qualified workpieces are respectively exposed and arranged at the corresponding loading / unloading transport openings 60b. Two first safety laser scanners 64 are provided outside the protective fence 60 and are respectively adjacent to the corresponding loading / unloading transport openings 60b. The two first safety laser scanners 64 are symmetrically arranged on both sides of the waste material transport opening 60a to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transport opening 60a and the two loading / unloading transport openings 60b. A second safety laser scanner 65 is provided at the side inlet / outlet 12d and faces the waste material transport opening 60a to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transport opening 60a and the side inlet / outlet 12d. It can not only accurately monitor in real time the entry and exit of personnel or automated transfer equipment (such as AGV cars) at each entrance and exit and their distances from the entrances and exits through the two first safety laser scanners 64, but also accurately monitor the precise positions of personnel or automated transfer equipment inside and outside the waste material transport opening 60b through the second safety laser scanner 65, so as to cooperate with each other to achieve position-based hierarchical early warning.

[0045] In this embodiment, a workstation room 74 is also covered on the outside of the bed body 12, forming a relatively enclosed space inside the bed body 12, which is not only conducive to more efficient dust collection and keeping the factory environment clean, but also can prevent debris from splashing out and causing safety accidents.

[0046] Furthermore, hierarchical safety warning lights 74a are provided on multiple side walls of the workstation room 74, enabling staff at any peripheral position to quickly identify the current safety risk level according to the colors of the hierarchical safety warning lights 74a. At the same time, a buzzer is also provided, so that it can not only give a sound alarm, but also give different sound alarms according to the corresponding alarm levels. In this embodiment, buzzer devices are provided at multiple positions in the operation area 69 and the working area, so as to give a sound alarm to personnel.

[0047] In this embodiment, an external equipment room 68 and an operation area 69 are provided outside the working area, and both are located on the side of the bed body 12 away from the side inlet / outlet 12d. It should be noted that an opening is provided on the side of the external equipment room 68 away from the bed body 12. This opening is used for both the transfer of equipment and the heat dissipation of the equipment. However, since the external equipment room 68 is full of equipment (including air compressors, laser generators, dust collection equipment, chillers, etc.), personnel cannot enter or exit through this opening.

[0048] Specifically, the bed body 12 is provided with a bed body door 70 communicating with the external equipment room 68, the external equipment room 68 is provided with a secondary identity recognition access control system 71 for controlling the opening and closing of the bed body door 70, the external equipment room 68 is provided with an equipment room door 72 communicating with the operation area 69, and the operation area 69 is provided with a primary identity recognition access control system 73 for controlling the opening and closing of the equipment room door 72. Therefore, only after the operator successfully passes the authentication of the primary identity recognition access control system 73 can the operator enter the external equipment room 68 to perform maintenance and repair work on the equipment, etc., and at the same time activate the corresponding level of safety protection; when the operator needs to enter the interior of the bed body 12 to repair the three-dimensional laser cutting machine, the operator needs to first pass the authentication of the primary identity recognition access control system 73 and enter the external equipment room 68, and then pass the authentication of the secondary identity recognition access control system 71 before being able to enter the interior of the bed body 12, realizing the hierarchical safety protection of the operator and activating the corresponding level of safety protection at the same time.

[0049] Among them, door opening / closing detection devices for detecting the opening and closing conditions are provided on the door frames of both the bed body door 70 and the equipment room door 72. The door opening / closing detection device can be a common device such as a travel switch, a force sensor, or a position sensor. The door opening / closing detection device is usually used to detect whether the bed body door 70 and the equipment room door 72 are completely closed. If they are not completely closed, an alarm will be sent to the system to activate the corresponding level of safety protection.

[0050] In this embodiment, the operation area 69 is provided with an observation window 75, an industrial control computer 76, a display screen 77, an equipment status light board 78, and an operator identity recognition system 81. Among them, the observation window 75 facilitates the operator to observe the internal situation of the bed body 12. The industrial control computer 76 is used to control the operation of the three-dimensional laser cutting machine. The display screen 77 is used to display the processing status and safety monitoring information of the three-dimensional laser cutting machine (such as video images and safety protection level information, etc.). The equipment status light board 78 is used to display the operation status of each equipment in the external equipment room 68. Usually, one equipment corresponds to one status light, and the status light can switch multiple colors corresponding to different statuses of the equipment. The operator identity recognition system 81 is used to authenticate the identity of the operator. Only after passing the authentication can the operator operate the industrial control computer 76.

[0051] It should be noted that the operator identification system 81, the primary identification access control system 73, and the secondary identification access control system 71 can adopt any one or a combination of multiple methods such as card swiping, fingerprint, face recognition, and password.

[0052] Meanwhile, emergency stop buttons 79 are provided inside the bed body 12, inside the external equipment room 68, inside the operation area 69, inside the working area, at the waste material transportation port 60a, and at the two loading and unloading transportation ports 60b. When the operator discovers danger, the overall emergency shutdown can be achieved through the emergency stop buttons 79 to ensure their own safety.

[0053] Furthermore, an automatic marking machine 83 is also provided beside the non-conforming part stacking area 63, so that each non-conforming part can be marked, which is convenient for subsequent differentiation to enter the corresponding processing procedures, and also further facilitates the realization of fully automated processing.

[0054] In this embodiment, two stockpiling areas 80 for spare materials are arranged outside the working area, both of which are located on the side of the bed body 12 far from the side inlet / outlet 12d. The two stockpiling areas 80 for spare materials are respectively adjacent to the corresponding loading and unloading transportation ports 60b. The external equipment room 68 and the operation area 69 are located between the two stockpiling areas 80 for spare materials. A protective fence 60 is arranged between the operation area 69 and the adjacent stockpiling area 80 for spare materials to facilitate the stacking of different workpieces to be processed.

[0055] Moreover, active entry safety switches 66 are provided at the waste material transportation port 60a and the two loading and unloading transportation ports 60b. When a person enters for operation, they need to press the active entry safety switch 66, so that the system enters the corresponding safety protection level; if a person enters without pressing the active entry safety switch 66, the system automatically activates a higher level of safety protection, thus greatly improving the safety protection ability for personnel.

[0056] Furthermore, a personnel monitoring camera 82 is installed inside the bed body 12 facing the side inlet / outlet 12d. The personnel monitoring camera 82 is located on the side of the slide rail 17a far from the side inlet / outlet 12d. And the personnel monitoring camera 82 includes a personnel monitoring camera base 82a fixedly installed on the bed body 12, a personnel monitoring drive motor 82d installed on the personnel monitoring camera base 82a, a personnel monitoring camera bracket 82b synchronously rotatably installed on the motor shaft of the personnel monitoring drive motor 82d, and a monitoring camera 82c fixedly installed on the personnel monitoring camera bracket 82b. Through such a design, it can not only cooperate with the second safety laser scanner 65 to accurately monitor the precise positions of personnel or automated transfer equipment inside and outside the waste material transportation port 60b, avoiding the situation where any equipment is blocked and cannot be monitored, but also can adjust the angle in real time to monitor the internal situation of the bed body 12.

[0057] In this embodiment, 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 slides 6b and two end connection seats 6c. The two strip slides 6b and the two end connection seats 6c are preferably integrally formed by a casting process, and the structural strength is high. The two strip slides 6b are both columnar or strip structures, and the two strip slides 6b are parallel to each other. The two end connection seats 6c are arranged at both ends of the two strip slides 6b, that is: one of the end connection seats 6c is fixedly connected to one end of the two strip slides 6b, and the other end connection seat 6c is fixedly connected to the other end of the two strip slides 6b. In this embodiment, the gap between the two strip slides 6b forms a Z-axis sleeve clearance groove 6a extending in the horizontal direction, and the two ends of the Z-axis sleeve clearance groove 6a are defined by the two strip slides 6b. In addition, the upper part of the strip slide 6b is provided with a Y-direction sliding assembly mounting structure 6b1, and the end connecting seat 6c is provided with an X-direction driving device mounting structure 6c1, so that the center of gravity of the Y-axis slide 2 and the Z-axis sleeve 1 is at the center of the crossbeam 6, which greatly improves the stability and reliability of the Y-axis slide 2 and the Z-axis sleeve 1, and does not need to be frequently corrected and debugged, and is not easy to cause the crossbeam 6 to torsion deformation, so that the static and dynamic characteristics of the three-dimensional laser cutting machine are excellent. Therefore, the crossbeam 6 of this embodiment enables the Y-axis slide 2 to be installed on two Y-direction sliding assembly mounting structures 6b1, and at the same time, the Z-axis sleeve 1 can be inserted into the Z-axis sleeve clearance groove 6a, so that it can cooperate with the Y-axis slide 2 to realize the central straddle-type installation on the crossbeam 6. Furthermore, the upper parts of the two strip-shaped slide seats 6b have upper support surfaces 6b2 that are both inclined, and the two upper support surfaces 6b2 are symmetrically inclined downward in a direction away from each other, that is, the two upper support surfaces 6b2 together form an "eight"-shaped structure. At the same time, the Y-axis sliding assembly mounting structure 6b1 includes mounting bosses 6b11 protruding from the corresponding upper support surfaces 6b2, and the mounting bosses 6b11 extend along the length direction of the corresponding upper support surfaces 6b2. The two mounting bosses 6b11 are protruding on the side away from each other to form support ribs 6b12, and the mounting bosses 6b11 are mounted with second linear guides 7 extending along the length direction thereof, and the slide rails of each second linear guide 7 are respectively supported on the corresponding support ribs 6b12. Therefore, not only is the reliable installation of the second linear guide 7 guaranteed, but the two second linear guides 7 also together form an "eight"-shaped 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 inside of the strip-shaped sliding seat 6b is a hollow structure extending along the length direction thereof to meet the requirements of lightweight design. At the same time, a plurality of reinforcing support ribs 6b4 distributed along the length direction of the strip-shaped sliding seat 6b are arranged inside the strip-shaped sliding seat 6b, thus ensuring the structural strength of the strip-shaped sliding seat 6b. Among them, since a weight reduction opening 6b41 is also provided on the reinforcing support rib 6b4, the overall lightweight is further improved. In addition, a plurality of weight reduction openings 6b5 distributed along the length direction of the upper support surface 6b2 are provided on the upper support surface 6b2, and the respective reinforcing support ribs 6b4 are located at both ends of the corresponding weight reduction opening 6b5, which not only meets the requirements of lightweight design, but also facilitates the welding and installation of the reinforcing support rib 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, so as to facilitate the installation of the motor. At the same time, a plurality of triangular reinforcing 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.

[0058] 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 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 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 install 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 very small, the width of the Z-axis sleeve relief groove 6a of the cross beam 6 that cooperates with them can be greatly reduced, thereby effectively improving the structural strength of the cross beam 6, not easily having the problem of bending deformation, and reducing the maintenance frequency and use cost.

[0059] 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 in the vertical direction. Therefore, while ensuring its own structural strength, the middle part of the flat tube portion 1a can facilitate wire routing through the two wire routing relief grooves 1a2 formed by the expanded 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 in 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 horizontally to both sides from the cylindrical portion 1b, 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.

[0060] The Y-axis slide block 2 has an annular structure. Specifically, the Y-axis slide block 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, the slider connecting plate 2a2 of this embodiment 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" shape (matched with the second linear guide 7). Therefore, when the Y-axis slide block 2 translates, it can apply pressure to the crossbeam 6 through the way of inclined plane cooperation. Compared with the pressure applied to the crossbeam 6 by the structure where the slider connecting plate 2a2 is perpendicular to the vertical mounting plate 2a1, the way of this embodiment can reduce the bearing pressure of 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.

[0061] 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 cross beam 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.

[0062] The Y-axis slide 2 of this embodiment is connected to the cross beam 6 by setting 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 deviation correction 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 precision 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 all 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 reaching the position, 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 two lifting guide planes 1a1. Two slider mounting assemblies are correspondingly arranged on the outer sides of the two lifting guide planes 1a1, and two buckle assemblies are correspondingly arranged on the outer sides of the two arc surfaces 1a5. Four Z-direction slider connection structures 2b1 are fixedly connected to the sliders of the four first linear guide rails 1c correspondingly. 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.

[0063] 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 preferably adopts a servo motor, which can further improve the precision control of the lifting of the Z-axis sleeve 1.

[0064] 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 by 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 away 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 synchronously. 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 slider 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 slider. 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 by 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 are protruded on 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 corresponding 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 is protruded along the circumference at 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 abutted against the circular reinforcing flange 1a4, thereby further improving the installation accuracy of the first rack 1d and each first linear guide 1c.

[0065] Furthermore, a plurality of annular reinforcing ribs 1b1 arranged side by side in the axial direction and axial reinforcing ribs 1b2 evenly distributed in the circumferential direction of 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 close to 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 close to 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. High-rigidity linear guides 31 extending along the length direction of the crossbeam 6 are fixedly mounted in parallel on both side walls of the Z-axis sleeve relief groove 6a, that is, high-rigidity 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, high-rigidity support blocks 32 extending along the width direction of the crossbeam 6 are fixedly mounted on both sides of the Y-axis slider 2 along the length direction of the crossbeam 6. Both ends of the high-rigidity support blocks 32 are respectively fixedly connected and supported between the corresponding sliders of the two high-rigidity linear guides 31, that is, support block mounting seats 2b3 adapted to the high-rigidity support blocks 32 are provided at the lower parts of the four slider connection structures 2b1, and the high-rigidity support blocks 32 are fixedly mounted in pairs of two of the four support block mounting seats 2b3. Therefore, in this embodiment, not only high-rigidity linear guides 31 arranged in the length direction are added on both side walls of the Z-axis sleeve relief groove 6a, which is equivalent to adding two straighteners on the crossbeam 6, but also two high-rigidity support blocks 32 fixedly connected to the Y-axis slider 2 and the sliders of the two high-rigidity linear guides 31 are added. The two high-rigidity support blocks 32 and the two high-rigidity linear guides 31 form a dynamic quadrilateral support structure. By synchronously moving with the Y-axis slider 2, the two high-rigidity 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 the crossbeam 6 is extremely difficult to bend and twist even after long-term use; at the same time, the two high-rigidity support blocks 32 and the two high-rigidity 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 to achieve an integrated coupling design, thereby significantly improving the load-bearing capacity of the entire crossbeam module and enabling the three-dimensional laser cutting machine to have excellent static and dynamic characteristics.

[0066] Furthermore, on the side walls of the two strip-shaped sliding seats 6b that are close to each other, guiding and supporting grooves 6b6 that are adapted to the corresponding end portions 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 bottom of the corresponding guiding and supporting grooves 6b6. The two ends of the high-rigidity support blocks 32 are respectively inserted into the corresponding guiding and supporting 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 groove walls of the corresponding guiding and supporting grooves 6b6, that is: the upper side wall of the high-rigidity support block 32 and the upper side groove wall of the guiding and supporting groove 6b6 form a surface contact, and the lower side wall of the high-rigidity support block 32 and the lower side groove wall of the guiding and supporting 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 entire crossbeam module has more excellent static and dynamic characteristics. It should be noted that a plurality of bolt mounting holes 6b7 are provided at the bottom of the guiding and supporting grooves 6b6, and the high-rigidity linear guide rails 31 are locked in the corresponding bolt mounting holes 6b7 by bolts, ensuring the reliable installation of the high-rigidity linear guide rails 31, and at the same time, the assembly process is very convenient.

[0067] 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, on-line vision inspection 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 range of view detection is greatly increased, and at the same time, detection dead angles can be avoided. And, the online vision camera 36 can also be used as a camera for safety monitoring, so as to realize full-coverage monitoring of the internal links of the machine bed 12.

[0068] On the sides of the high-rigidity support blocks 32 far away from the Z-axis sleeve 1, first oil hydraulic 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 hydraulic buffers 33 are installed. When the first oil hydraulic buffer 33 abuts against the corresponding first force sensor 34, the first oil hydraulic buffer 33 can first play a buffering role, and at the same time, it can also trigger the first force sensor 34 to send a shutdown signal, so as to avoid the Y-axis sliding seat 2 from colliding with the crossbeam 6. Furthermore, the high-rigidity support blocks 32 can be composed of a plurality of small blocks fixedly connected together, greatly improving the convenience of assembling with the mating parts. At the same time, each small block has 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.

[0069] It should be noted that program anti-collision is also designed through the control program between the two sliding tables 17b of the three-dimensional laser cutting machine, between the two cross beams 6, between the Y-axis slide 2 and the cross beam 6, and between the two laser cutting heads 5, realizing "soft limit". Together with the hardware anti-collision, a better anti-collision effect is achieved.

[0070] In this embodiment, two mutually parallel third linear guides 13 are installed on the top of the bed body 12, and third racks 14 parallel to them are installed beside the two third linear guides 13, that is, one third linear guide 13 and one 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 the respective end connectors 6c of the two sets of crossbeam modules. Third drive gears 16 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 guides 13 in parallel, and the extending directions of the two crossbeams 6 are perpendicular to the extending directions of the two third linear guides 13. Usually, the extending direction of the third linear guide 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 accuracy. 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 guides 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 fixedly installed on the corresponding end connectors 6c constitute a crossbeam drive assembly. The two end connectors 6c are installed on the sliders of the two third linear guides 13 in a one-to-one correspondence, and third drive gears 16 meshing with the corresponding third racks 14 are sleeved on the motor shafts of the respective third motors 15 in a synchronously rotating manner. The two second linear guides 7 and one 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 guides 7 are fixedly installed on one of the strip-shaped slides 6b in the crossbeam 6, and the other second linear guide 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 the respective second linear guides 7, and 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 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 the respective first linear guides 1c, and 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 also trigger the second force sensor 38 to send a shutdown signal, thereby avoiding the collision of the two cross beams 6.

[0071] A positioning fixture 18 capable of moving along the width direction of the slide rail 17a under the drive of the tooling translation assembly 19 is installed on each of 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 mechanism 24 for removing the waste on the upper surface of the tooling base 19a into the waste collection box 25 is connected to the positioning fixture 18 in a synchronous moving manner. 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 super multiple 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, the positioning fixture 18 will drive the waste removal mechanism 24 synchronously to remove the waste on the tooling base 18 into the waste collection box 25. 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, but 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. Each tooling translation module includes a fourth linear guide rail 19c installed on one of the guide rail mounting brackets 19a2 and 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 fixture 18 includes a driving slide carriage 18a and a driven slide carriage 18b on both sides of the material receiving plate 19a1. The driving slide carriage 18a and the driven slide 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 slide carriage 18a. A fourth driving gear 19e meshing with the fourth rack 19b is synchronously rotated and sleeved on the motor shaft of the fourth motor 19d. When the workpiece is fixed on the driving slide carriage 18a and the driven slide carriage 18b, the driving slide carriage 18a and the driven slide carriage 18b move synchronously. Therefore, by driving the fourth driving gear 19e to rotate forward and backward through the motor shaft of the fourth motor 19d, the translation of the positioning fixture 18 can be controlled, and the control accuracy is high. Further, the fourth motor 19d is preferably a servo motor, which can further improve the precision control of the translation of the positioning fixture 18.

[0072] 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 slide 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 assembly 24a installed on the corresponding active carriage 18a or driven carriage 18b and a removal assembly 24b for removing the waste in the corresponding material receiving groove 19a11 to one side in the width direction of the slide table track 17a. Each group of removal assemblies 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 slide table track 17a are recessed at the bottom of each material receiving groove 19a11. The removal assemblies 24b each include a push-pull shaft 24b1 extending in the length direction of the slide table track 17a, a waste removal push block 24b2 slidably installed in the corresponding guide slot 19a12 one by one, and a push-pull crank 24b3 hinged to the same end of each waste removal push block 24b2 one by one. One end of each push-pull crank 24b3 away from the waste removal push block 24b2 is respectively hinged to the corresponding push-pull shaft 24b1. The connection assemblies 24a each include a push-pull plate 24a1 fixedly connected to the corresponding active carriage 18a or driven carriage 18b and a push-pull connecting rod 24a2 hinged to the corresponding push-pull plate 24a1. One end of each push-pull connecting rod 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 connecting rod 24a2, and the push-pull shaft 24b1 then synchronously pushes and pulls the waste 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 slide 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 easy to be pushed by the waste removal push block 24b2. If the metal sheet is circular, with a slight push from the waste removal push block 24b2 on the circular metal sheet, 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.

[0073] Further, in order to make it easier to push the metal flakes out of the material guiding slot 19a12, in this embodiment, in the same material receiving slot 19a11: each of the material guiding slots 19a12 is arranged to incline downward from one end close to the pushing and pulling shaft 24b1 towards the other end in a synchronous manner, that is, it inclines obliquely downward towards the waste collection box 25. Since each of the material guiding slots 19a12 is designed to incline obliquely downward towards the output end, whether it is a circular metal flake or a strip-shaped metal flake, the material removing push block 24b2 only needs to apply a relatively small thrust as set, and the circular metal flake and the strip-shaped metal flake 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 flake 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 of the material guiding slots 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 positions of the two inclined sections 19a121 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 positions of the two vertical sections 19a122 is in a rectangular structure, so that the metal flakes generated by laser cutting can be supported at the position of the inclined section 19a121 and have a certain included angle with the vertical section 19a122, and thus are more easily pushed by the material removing push block 24b2. Correspondingly, each of the material removing push blocks 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 flakes generated by laser cutting will be inclinedly 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 flakes in the material guiding slot 19a12 and avoid the jamming problem.

[0074] Further, 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. The two ends of each push-pull shaft 24b1 are respectively slidably fitted into the corresponding push-pull shaft guiding slots 19a13, thus ensuring the synchronization of the operation of each waste removal push block 24b2 and avoiding jamming problems.

[0075] 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 connection seat 18a4 all installed on the active carriage base 18a1. The active carriage connection 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 fitted 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 connection seat 18a4.

[0076] 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 mounted 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 can adapt to workpieces of different sizes and has good versatility. 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, further improving the applicability to workpieces of different sizes.

[0077] 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 safety protection structure for a three-dimensional laser cutting system, comprising a three-dimensional laser cutting machine and two robotic arms. The three-dimensional laser cutting machine includes a bed, a rail and slide table conveying mechanism, and two sets of crossbeam modules. Both ends of the bed in the length direction are provided with slide table inlets and outlets. The rail and slide table conveying mechanism includes a slide table rail that simultaneously passes through the two slide table inlets and outlets, and two slide tables that can slide along the slide table rail driven by a slide table drive assembly. The two sets of crossbeam modules are arranged parallel to each other across the top of the bed in the width direction and can both move along the length direction of the bed under the control of a crossbeam drive assembly. It is characterized in that: On one side in the width direction of the bed body, there is a side inlet / outlet. The side inlet / outlet and the two slider inlets / outlets are enclosed by a protective fence to form a working area. Two robotic arms are respectively located on both sides of the side inlet / outlet and are adjacent to the corresponding slider inlets / outlets. Around each robotic arm, there are successively arranged a stack area for workpieces to be processed, a stack area for qualified workpieces, and a stack area for unqualified workpieces within the working area. The protective fence is provided with a waste material transport opening facing the side inlet / outlet and two loading / unloading transport openings respectively facing the corresponding slider inlets / outlets. The two stack areas for unqualified workpieces are symmetrically arranged on both sides of the waste material transport opening. Two groups of stack areas for workpieces to be processed and qualified workpieces are respectively exposed and arranged at the corresponding loading / unloading transport openings. Outside the protective fence, there are two first safety laser scanners respectively adjacent to the corresponding loading / unloading transport openings. The two first safety laser scanners are symmetrically arranged on both sides of the waste material transport opening to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transport opening and the two loading / unloading transport openings. At the side inlet / outlet, there is a second safety laser scanner facing the waste material transport opening to simultaneously monitor whether there are personnel or equipment approaching and entering the waste material transport opening and the side inlet / outlet.

2. The safety protection structure of the three-dimensional laser cutting system according to claim 1, wherein: Outside the working area, there are an external equipment room and an operation area both located on the side of the bed body away from the side inlet / outlet. The bed body is provided with a bed body door communicating with the external equipment room. The external equipment room is provided with a secondary identity recognition access control system for controlling the opening and closing of the bed body door. The external equipment room is provided with an equipment room door communicating with the operation area. The operation area is provided with a primary identity recognition access control system for controlling the opening and closing of the equipment room door. On the door frames of the bed body door and the equipment room door, there are door opening / closing detection devices for detecting their opening and closing conditions.

3. The safety protection structure of the three-dimensional laser cutting system according to claim 2, characterized in that: The operation area is provided with an observation window for observing the internal situation of the bed body, an industrial control computer for controlling the operation of the three-dimensional laser cutting machine, a display screen for displaying the processing status and safety monitoring information of the three-dimensional laser cutting machine, an equipment status lamp board for displaying the operation status of each device in the external equipment room, and an operator identity recognition system for authenticating the identity of operators.

4. The safety protection structure of the three-dimensional laser cutting system according to claim 2, wherein: Emergency stop buttons are provided inside the bed body, inside the external equipment room, inside the operation area, inside the working area, at the waste material transport opening, and at the two loading / unloading transport openings.

5. The safety protection structure of the three-dimensional laser cutting system according to claim 2, characterized in that: Outside the working area, there are two stockpiling areas for materials both located on the side of the bed body away from the side inlet / outlet. The two stockpiling areas for materials are respectively adjacent to the corresponding loading / unloading transport openings. The external equipment room and the operation area are located between the two stockpiling areas for materials. A protective fence is provided between the operation area and the adjacent stockpiling area for materials.

6. The safety protection structure of the three-dimensional laser cutting system according to claim 1, wherein: Active entry safety switches are provided at the waste material transport opening and the two loading / unloading transport openings.

7. The safety protection structure of the three-dimensional laser cutting system according to claim 1, characterized in that: Inside the bed body, a personnel monitoring camera facing the side inlet / outlet is installed. This personnel monitoring camera is located on the side of the slider track away from the side inlet / outlet.

8. The safety protection structure of the three-dimensional laser cutting system according to claim 1, characterized in that: Each crossbeam module includes a crossbeam, a Y-axis slide, a Z-axis sleeve, and a laser cutting head. The middle 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 a slide driving assembly. The Z-axis sleeve can move up and down along the Y-axis slide under the control of a sleeve driving 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. On both side walls of the Z-axis sleeve clearance groove, high-rigidity linear guides extending along the length direction of the crossbeam are fixedly installed in parallel. On both sides of the Y-axis slide along the length direction of the crossbeam, high-rigidity support blocks extending along the width direction of the crossbeam are fixedly installed. Both ends of each high-rigidity support block are respectively fixedly connected and supported between the corresponding sliders of the two high-rigidity linear guides; On one side of each high-rigidity support block away from the Z-axis sleeve, a first oil buffer extending away from the Z-axis sleeve is installed. On one side of each end connection seat close to the Z-axis sleeve, a first force sensor facing the adjacent first oil buffer is installed; On one side of the two crossbeams close to each other, a second oil buffer and a second force sensor are provided. The second oil buffer of one crossbeam faces the second force sensor of the other crossbeam, and the second force sensor of this crossbeam faces the second oil buffer of the other crossbeam; On the outer edges of the two slides close to each other, at least one pair of a male base and a female base facing each other are respectively installed. On each female base, a passive magnet and at least one precise positioning groove are provided. On each male base, an active electromagnet, precise positioning blocks respectively corresponding to the precise positioning grooves one by one, and a positioning block driving device for driving each precise positioning block to move synchronously are provided. Each passive magnet faces an active electromagnet one by one, and the magnetic poles of each passive magnet and the magnetic poles of the corresponding active electromagnets can be synchronously switched to be the same or opposite; When the magnetic poles of each passive magnet and the magnetic poles of the corresponding active electromagnets are all opposite and the two slides approach each other, each passive magnet can be adsorbed to the corresponding active electromagnet respectively, so that the positioning block driving device can drive each precise positioning block to be synchronously inserted into the corresponding precise positioning groove in a beveled surface matching manner.

9. The safety protection structure of the three-dimensional laser cutting system according to claim 1, wherein: At the bottom of the side inlet and outlet, two waste collection bins are provided. On each slide, a positioning fixture capable of moving along the width direction of the bed under the drive of a fixture translation assembly is installed; When any slide is located beside the side inlet and outlet, the positioning fixture on this slide can be driven by the fixture translation assembly to move above the corresponding waste collection bin. At this time, the waste on the upper surface of the fixture base of the fixture translation assembly is removed to the corresponding waste collection bin through the waste removal mechanism installed on the positioning fixture.

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