Multi-mode laser cutting robot unit and working method

Abstract

The invention discloses a multi-mode laser cutting robot unit and a working method.The multi-mode laser cutting robot unit comprises an operation platform and a control unit, a first cutting inspection robot and a second cutting inspection robot are arranged on the operation platform side by side, and a station platform is arranged on the operation platform; a first station and a second station are arranged on the station platform in a central symmetry manner; the invention relates to the technical field of laser cutting detection equipment, and has the beneficial effects that laser cutting and detection are integrally designed, the switching between a processing mode and a detection mode is realized, a robot unit adopts a parallel operation mode, a first cutting detection robot and a second cutting detection robot synchronously carry out laser cutting on workpieces at two stations, and the working efficiency is improved. And then the positions of the workpieces on the two stations are exchanged, the first cutting inspection robot and the second cutting inspection robot conduct cross detection on the two workpieces, and systematic errors during single-machine self-inspection are effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of laser cutting detection equipment, in particular to a multi-mode laser cutting robot unit and a working method. Background Art

[0002] A laser cutting robot is an industrial automation device that uses a high-energy laser beam to precisely cut materials. Combining industrial robotics with laser processing technology, it can efficiently and accurately cut metal, plastic, and composite materials, and is widely used in automotive, aerospace, electronics, and sheet metal processing. In traditional laser cutting processes, laser cutting robots typically only have a cutting function and typically use a single device to complete the task, requiring subsequent quality inspection by manual labor or specialized testing equipment. Related existing technologies include:

[0003] 1. Publication number CN103495807B describes a multi-robot fiber laser cutting system, comprising a high-power fiber laser, a robot control cabinet, a computer control hub, a gantry frame, a global trinocular vision positioning device, a six-degree-of-freedom industrial robot body, a laser cutting head, a CCD image sensor, a workpiece clamping device, a water cooling system, and a cylinder. A camera is mounted on each of the three side panels of the gantry frame, and a CCD image sensor is mounted on the wrist of each six-degree-of-freedom industrial robot body to monitor the cutting action of the hand laser cutting head in real time. The multi-robot fiber laser cutting system comes with a two-stage vision positioning system consisting of a global trinocular vision positioning device and multiple CCD image sensors. This system, combined with the cutting tasks assigned to each robot by a computer, enables precise positioning and interference avoidance.

[0004] 2. Publication No. CN110202280B discloses a three-dimensional laser cutting robot for sheet metal, which comprises a frame, a left telescopic body provided on the left and right sides of the frame, two sets of dynamic and static clamping bodies provided one above the other on opposite sides of the left and right telescopic bodies, the dynamic and static clamping bodies provided with a fixed automatic sheet metal clamp and a movable automatic sheet metal clamp, and a base provided in the center of the rear edge of the bottom frame of the frame, the base provided with a robotic arm, and the robotic arm provided with a laser cutting head; the robotic arm with the laser cutting head is used to achieve three-dimensional laser cutting, and to facilitate cutting of the sheet metal, the sheet metal is clamped in three dimensions, so that the laser cutting head performs a relatively small laser cutting action on the vertical plane, which can effectively improve the cutting accuracy;

[0005] In summary, the core functions of the above-mentioned existing laser cutting robots are limited to cutting tasks, and they lack post-cutting quality inspection functions. After the cutting robot completes cutting the workpiece, it is necessary to rely on manual labor to transfer the workpiece to the inspection station for subsequent quality inspection, while the cutting robot continues to cut. If the quality inspection station finds a workpiece with quality defects, a large number of unqualified products have often been accumulated at the cutting station, resulting in material waste. The separate setting of workpiece cutting and inspection seriously restricts production efficiency. In view of this, in-depth research on the above-mentioned problems has led to the emergence of this case. Summary of the Invention

[0006] The purpose of the present invention is to solve the above problems. A multi-mode laser cutting robot unit and a working method are designed to solve the problem that the core functions of existing laser cutting robots are limited to cutting tasks and lack post-cutting quality inspection functions. After the cutting robot completes cutting the workpiece, it is necessary to rely on manual labor to transfer the workpiece to the inspection station for subsequent quality inspection, while the cutting robot continues to cut. If the quality inspection station finds a workpiece with quality defects, a large number of unqualified products have often been accumulated at the cutting station, resulting in material waste. The separate setting of workpiece cutting and inspection seriously restricts the production efficiency.

[0007] To achieve the above-mentioned purpose, the present invention provides a technical solution: a multi-mode laser cutting robot unit, comprising an operating platform and a control unit, wherein a first cutting and inspection robot and a second cutting and inspection robot are arranged side by side on the operating platform, a workstation platform is provided on the operating platform, and a first workstation and a second workstation are arranged on the workstation platform in a centrally symmetrical manner, and the control unit is used to control the operation of the first cutting and inspection robot, the second cutting and inspection robot, the first workstation, and the second workstation;

[0008] The first cutting and inspection robot and the second cutting and inspection robot, the first workstation and the second workstation are arranged corresponding to each other;

[0009] The first cutting and inspection robot and the second cutting and inspection robot each include a base disposed on an operating platform, a multi-axis robotic arm disposed on the base, an end motor disposed at the end of the multi-axis robotic arm, and a cutting and inspection integrated machine disposed at the driving end of the end motor;

[0010] The cutting and inspection machine includes a connecting frame, one end of which is equipped with a laser cutting head, and the other end of which is equipped with a detector; the detector includes a follower structure, which is installed on the connecting frame, and a box body is installed on the follower structure, and two detection connecting ends are installed on the box body, each of which is equipped with a movable rod, and a bonding roller structure is installed on the movable rod.

[0011] Preferably, each of the detection connection ends includes a sleeve, which is fixedly mounted on the inner wall of the box body, and the movable rod is movably inserted into the box body and the sleeve. A pressure sensor is installed at one end of the movable rod, and a hollow piston block is installed on the pressure sensor. A through hole is provided on the hollow piston block, and a first guide rod is movably inserted on the through hole. The first guide rod is fixedly mounted on the inner wall of the sleeve, and an air bag is provided on the outer wall of the hollow piston block, and an inflation port is provided on the side wall of the hollow piston block, and the inflation port is connected to the air bag. An elastic component is provided on the hollow piston block, and a distance measuring instrument is provided on the inner wall of the sleeve, an air pressure port is opened on the sleeve, and a mode adjustment auxiliary component is provided on the sleeve corresponding to the air pressure port, and a pneumatic component is provided on one side of the hollow piston block and on the hollow piston block.

[0012] Preferably, the elastic component includes a avoidance rod, which is installed on the hollow piston block. A target plate is installed at one end of the avoidance rod, and the target plate is arranged corresponding to the distance measuring instrument. A spring is arranged between the target plate and the sleeve.

[0013] Preferably, the mode adjustment auxiliary component includes a first electric push rod, which is inserted into the sleeve, and a sealing plate is installed at the telescopic end of the first electric push rod, and a sealing gasket is provided on the sealing plate. The sealing gasket is arranged corresponding to the air pressure port, and the pneumatic power component includes a valve, and a bidirectional air pump is installed at one end of the valve.

[0014] Preferably, the laminating roller structure includes a mounting plate, the mounting plate is mounted on one end of the movable rod, and a rotating roller is movably inserted on the mounting plate.

[0015] Preferably, the connecting frame includes a transverse connecting rod, one end of which is mounted on the driving end of the end motor, and the other end of which is mounted with a C-shaped rod, and the laser cutting head and the follower structure are respectively mounted on both ends of the C-shaped rod.

[0016] Preferably, the follower structure includes a stabilizing frame, which is installed at one end of the C-shaped rod. A follower motor is installed on the stabilizing frame, and the box is installed on the driving end of the follower motor.

[0017] Preferably, the first workstation and the second workstation both include a slide groove, the slide groove is opened on the workstation platform, a transposition motor is provided on the inner wall of the slide groove, a screw is installed on the driving end of the transposition motor, a moving block is provided on the screw through a threaded sleeve, a second electric push rod is installed on the moving block along the width direction of the slide groove, a mounting platform is installed on the telescopic end of the second electric push rod, and a clamp is provided on the mounting platform.

[0018] Preferably, a guide bar is installed on the upper wall of the moving block, and a guide groove matching the guide bar is opened on the lower wall of the mounting platform. The lower wall of the mounting platform and the upper wall of the workstation platform are on the same plane. A second guide rod is installed on the inner wall of the slide groove, and the moving block is movably mounted on the second guide rod.

[0019] A working method comprises the following steps:

[0020] Step 1: The first station clamps workpiece A, and the second station clamps workpiece B and keeps it in place;

[0021] Step 2: The first cutting inspection robot and the second cutting inspection robot work in laser cutting mode. The first cutting inspection robot cuts the edge of workpiece A at the first station, while the second cutting inspection robot cuts the edge of workpiece B at the second station.

[0022] Step 3: After the cutting of workpiece A and workpiece B is completed, the staff cleans up the cutting waste;

[0023] Step 4: The first and second workstations operate to swap the positions of workpiece A and workpiece B;

[0024] Step 5: The first cutting inspection robot and the second cutting inspection robot work in the inspection mode, and respectively inspect the edges of the workpiece B clamped at the second station and the workpiece A clamped at the first station;

[0025] Step 6: During the test, the laminating roller contacts the edge of the workpiece, causing the pressure sensor to reach the set value. The distance measuring instrument records the distance between the workpiece and the standard plate, and the distance value is compared with the standard value.

[0026] Step 6.1: If the detected distance value is the same as the standard value, the edge of workpiece A or workpiece B is deemed qualified;

[0027] Step 6.2: If the detected distance value is less than the standard value, it is determined that there is material remaining on the edge, the cutting is not thorough, and workpiece A or workpiece B is unqualified;

[0028] Step 6.3: If the detected distance value is greater than the standard value, it is determined that the edge is overcut and workpiece A or workpiece B is unqualified;

[0029] Step 7: If workpiece A or workpiece B is determined to be unqualified, the control unit stops the control device and manual intervention is required for maintenance.

[0030] The multi-mode laser cutting robot unit and working method manufactured using the technical solution of the present invention integrate laser cutting and detection into an integrated design to realize the switching of processing mode and detection mode. The robot unit adopts a parallel operation mode. The first and second cutting and inspection robots synchronously laser cut the workpieces at the two stations. Then the positions of the workpieces at the two stations are interchanged, and the first and second cutting and inspection robots cross-detect the two workpieces, effectively avoiding the systematic errors during self-inspection of a single machine. During inspection, the design of the detection connection end can accurately distinguish the excess material and overcutting on the cutting edge of the workpiece. Once a quality defect is found in the workpiece, the control unit controls the device to stop working, and the staff inspects the equipment and troubleshoots the problem to prevent the device from operating in an abnormal state, ensure the processing and production quality of the workpiece, and avoid material waste. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a three-dimensional structural diagram of the cutting and inspection robot of the multi-mode laser cutting robot unit described in the present invention.

[0032] Figure 2 This is a schematic diagram of the top structure of a multi-mode laser cutting robot assembly described in the present invention.

[0033] Figure 3 This is a side structural schematic diagram of a multi-mode laser cutting robot assembly described in the present invention.

[0034] Figure 4 This is a schematic diagram of the main structure of the cutting and inspection integrated machine of the multi-mode laser cutting robot unit described in the present invention.

[0035] Figure 5 This is a schematic diagram of the three-dimensional structure of the local main viewing angle of the detection connection end of a multi-mode laser cutting robot unit described in the present invention.

[0036] Figure 6 This is a schematic diagram of the three-dimensional structure of the local rear view angle of the detection connection end of a multi-mode laser cutting robot unit described in the present invention.

[0037] Figure 7 This is a schematic diagram of the internal structure of the hollow piston block of a multi-mode laser cutting robot unit described in the present invention.

[0038] Figure 8 This is a schematic diagram of the three-dimensional structure of the workstation platform of a multi-mode laser cutting robot unit described in the present invention.

[0039] Figure 9 The multi-mode laser cutting robot unit described in the present invention Figure 4 Schematic diagram of the locally enlarged structure at point A in the middle.

[0040] Figure 10This is a logic block diagram of a working method described in the present invention.

[0041] In the picture:

[0042] 1. Operation platform;

[0043] 2. Work station platform, 201, transposition motor, 202, lead screw, 203, moving block, 204, second electric push rod, 205, mounting table, 206, fixture, 207, guide bar, 208, second guide rod;

[0044] 3. Base, 4. Multi-axis robotic arm, 5. End motor;

[0045] 6. Cutting and inspection machine, 601. Laser cutting head, 602. Box, 603. Movable rod, 604. Sleeve, 605. Hollow piston block, 606. First guide rod, 607. Airbag bag, 608. Inflating port, 609. Distance measuring instrument, 610. Avoidance rod, 611. Marking plate, 612. Spring, 613. First electric push rod, 614. Sealing plate, 615. Sealing gasket, 616. Valve, 617. Bidirectional air pump, 618. Mounting plate, 619. Roller, 620. Transverse connecting rod, 621. C-shaped rod, 622. Stabilizing frame, 623. Follow-up motor, 624. Pressure sensor. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings. Figure 1-10 Shown is a multi-mode laser cutting robot unit and a working method.

[0047] Through the use of wires by those skilled in the art, all electrical components in this case are connected to their corresponding power supplies, and appropriate controllers should be selected according to actual conditions to meet control requirements. The specific connection and control sequence should refer to the following working principle, in which the electrical components are electrically connected in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principle and process, and does not explain the electrical control.

[0048] Example 1:

[0049] A multi-mode laser cutting robot unit includes an operating platform 1 and a control unit. A first cutting and inspection robot and a second cutting and inspection robot are arranged side by side on the operating platform 1. A workstation platform 2 is provided on the operating platform 1. A first workstation and a second workstation are arranged on the workstation platform 2 in a centrally symmetrical manner. The control unit is used to control the operation of the first cutting and inspection robot, the second cutting and inspection robot, the first workstation, and the second workstation.

[0050] Specifically, the first cutting and inspection robot and the second cutting and inspection robot, and the first workstation and the second workstation are arranged corresponding to each other;

[0051] Specifically, the first cutting and inspection robot and the second cutting and inspection robot each include a base 3 provided on an operating platform 1, a multi-axis robotic arm 4 provided on the base 3, an end motor 5 provided at the end of the multi-axis robotic arm 4, and a cutting and inspection integrated machine 6 provided at the driving end of the end motor 5;

[0052] It should be noted that, during operation, the first station and the second station respectively clamp the workpiece A and workpiece B to be laser cut, the first cutting inspection robot and the second cutting inspection robot work in laser cutting mode, and laser cut the edges of the workpieces at the first station and the second station respectively. The staff collects the cut waste, and then the first cutting inspection robot and the second cutting inspection robot work in detection mode, the first station and the second station switch station positions, the first cutting inspection robot and the second cutting inspection robot respectively detect the edges of the workpiece B clamped on the second station and the workpiece A clamped on the first station to achieve cross detection; the two cutting inspection robots cut in parallel The cross-inspection avoids subjective deviations that may occur during the self-inspection of a single robot. For example, programming or calibration errors may cause the same problem to be overlooked in both cutting and inspection. Cross-inspection of workpieces makes it easier to find problems in the other workstation, making quality control more reliable. Once the first or second cutting inspection robot finds quality defects in the workpiece, such as abnormalities in the cut edge compared to the standard or dimensional deviations, the control unit can control the first and second cutting inspection robots to stop working, and the staff will inspect the equipment and troubleshoot the problem to prevent the device from operating in an abnormal state, ensure the processing quality of the workpiece, and avoid material waste.

[0053] Specifically, the cutting and inspection integrated machine 6 includes a connecting frame, one end of which is mounted with a laser cutting head 601, and the other end of which is mounted with a detector; the detector includes a follower structure, which is mounted on the connecting frame, and a box 602 is mounted on the follower structure, and two detection connection ends are mounted on the box 602, each of which is mounted with a movable rod 603, and a laminating roller structure is mounted on the movable rod 603;

[0054] It should be noted that when the first cutting and inspection robot and the second cutting and inspection robot work in the laser cutting mode, the laser cutting head 601 is aligned with the workpiece, and the multi-axis robotic arm 4 works to drive the laser cutting head 601 to move and cut the workpiece. The working principles of the laser cutting head 601 and the multi-axis robotic arm 4 are all existing technologies and will not be described in detail here.

[0055] When the first cutting inspection robot and the second cutting inspection robot are working in the inspection mode, the end motor 5 is operated to rotate the connecting frame 180 degrees so that the detector faces downward. The multi-axis robotic arm 4 is operated to make the laminating roller structure contact the edge of the workpiece to be inspected. The follower structure is operated to keep the laminating roller structure in contact with the cutting edge. The movable rod 603 is connected to the inspection connection end, and the inspection connection end is inspected.

[0056] Specifically, each detection connection end includes a sleeve 604, which is fixedly mounted on the inner wall of the box body 602, and a movable rod 603 is movably inserted into the box body 602 and the sleeve 604. A pressure sensor 624 is installed at one end of the movable rod 603, and a hollow piston block is installed on the pressure sensor 624. The hollow piston block is provided with a through hole, and a first guide rod 606 is movably inserted into the through hole. The first guide rod 606 is fixedly mounted on the inner wall of the sleeve 604. An air bag 607 is provided on the outer wall of the hollow piston block, an inflation port 608 is provided on the side wall of the hollow piston block, and the inflation port 608 is connected to the air bag 607. An elastic component is provided on the hollow piston block, and a distance measuring instrument 609 is provided on the inner wall of the sleeve 604. An air pressure port is provided on the sleeve 604, and a mode adjustment auxiliary component is provided on the sleeve 604 corresponding to the air pressure port. A pneumatic force component is provided on the sleeve 604 on one side of the hollow piston block and on the hollow piston block.

[0057] Specifically, the elastic component includes a avoidance rod 610, which is mounted on the hollow piston block. A target plate 611 is mounted on one end of the avoidance rod 610. The target plate 611 is arranged corresponding to the distance measuring instrument 609. A spring 612 is arranged between the target plate 611 and the sleeve 604.

[0058] It should be noted that the multi-axis robotic arm 4 and the follower structure drive the detector to move according to the set program, so that the laminating roller structure contacts the cutting edge of the workpiece, and the pressure value detected by the pressure sensor 624 reaches the set value. Under the action of the contact pressure, the movable rod 603 retracts into the sleeve 604, entering a semi-compressed state, pushing the hollow piston block to slide along the first guide rod 606, and the spring 612 is compressed and deformed. The change in the distance between the target plate 611 and the distance measuring instrument 609 is recorded in real time and converted into dimensional deviation data of the cutting edge. When the edge shape of the workpiece after cutting is the target shape, the distance between the target plate 611 and the distance measuring instrument 609 is the standard value.

[0059] When the edge shape of the workpiece after cutting is more convex than the target shape, the distance between the target plate 611 and the distance measuring instrument 609 is smaller than the standard value, and it is determined that there is material residue or incomplete cutting in the area, and the distance value detected by the distance measuring instrument 609 is recorded;

[0060] Specifically, the mode adjustment auxiliary component includes a first electric push rod 613, which is inserted into the sleeve 604. A sealing plate 614 is installed at the telescopic end of the first electric push rod 613, and a sealing gasket 615 is provided on the sealing plate 614. The sealing gasket 615 is corresponding to the air pressure port. The pneumatic power component includes a valve 616, and a two-way air pump 617 is installed at one end of the valve 616.

[0061] It should be noted that when the edge shape of the workpiece after cutting is over-cut compared to the target shape, the distance between the target plate 611 and the distance measuring instrument 609 is larger than the standard value. At this time, when the pressure sensor 624 can detect the pressure value, the distance value is recorded. If the pressure sensor 624 cannot detect the pressure value at this time, the two-way air pump 617 on the hollow piston block inflates the hollow piston block through the valve 616, and inflates the air bag 607 through the inflation port 608 until the air bag 607 fits with the inner wall of the sleeve 604 to form a piston function, and then the valve is closed. The door 616 is closed to prevent gas backflow. Then, the first electric push rod 613 is extended to its limit position. The sealing plate 614 is pressed onto the sleeve 604. Under the action of the sealing gasket 615, the air pressure port is sealed. Then, the two-way air pump 617 on the sleeve 604 inflates the sleeve 604 through the valve 616, pushing the hollow piston block and the air bag 607 outward, forcing the laminating roller structure to approach the workpiece surface again until the pressure value detected by the pressure sensor 624 reaches the set value. At this time, the distance value detected by the distance measuring instrument 609 is recorded.

[0062] Specifically, the laminating roller structure includes a mounting plate 618, which is mounted on one end of the movable rod 603, and a rotating roller 619 is movably inserted on the mounting plate 618;

[0063] It should be noted that during testing, the roller 619 is attached to the edge of the workpiece. When the attaching roller structure moves along the edge of the workpiece, the roller 619 rotates on the mounting plate 618 to prevent the roller 619 and the edge of the workpiece from wearing each other.

[0064] Specifically, the connecting frame includes a transverse connecting rod 620, one end of which is mounted on the driving end of the end motor 5, and the other end of the transverse connecting rod 620 is mounted with a C-shaped rod 621, and the laser cutting head 601 and the follower structure are respectively mounted on both ends of the C-shaped rod 621;

[0065] It should be noted that the transverse connecting rod 620 is used to connect the C-shaped rod 621 and the driving end of the end motor 5, and the C-shaped rod 621 is used to install the laser cutting head 601 and the detector;

[0066] Specifically, the follower structure includes a stabilizing frame 622, which is mounted on one end of the C-shaped rod 621. A follower motor 623 is mounted on the stabilizing frame 622, and the box 602 is mounted on the driving end of the follower motor 623.

[0067] It should be noted that, during detection, the multi-axis robot arm 4 cooperates with the follower motor 623 to keep the roller 619 in contact with the edge of the workpiece, thereby realizing workpiece edge detection;

[0068] Specifically, the first station and the second station both include a chute, which is provided on the station platform 2. A transposition motor 201 is provided on the inner wall of the chute. A lead screw 202 is installed on the driving end of the transposition motor 201. A moving block 203 is movably sleeved on the lead screw 202 through a thread. A second electric push rod 204 is installed on the moving block 203 along the width direction of the chute. A mounting platform 205 is installed on the telescopic end of the second electric push rod 204. A clamp 206 is provided on the mounting platform 205.

[0069] It should be noted that the clamp 206 is used to clamp the workpiece. In actual use, the type of the clamp 206 is set according to the workpiece to achieve the clamping of the workpiece. When the workpiece is laser cut, the second electric push rod 204 is in an extended limit state, so that the mounting table 205 is placed on the workstation platform 2. When it is necessary to switch the workstation for cross detection, the second electric push rod 204 is retracted to the limit state, and the mounting table 205 leaves the workstation platform 2. Then the transposition motor 201 drives the lead screw 202 to rotate, driving the moving block 203 to move along the slide slot to achieve the exchange of the first and second workstations. Then the second electric push rod 204 is extended to the limit state again, so that the mounting table 205 is placed on the workstation platform 2 for detection.

[0070] Specifically, a guide bar 207 is installed on the upper wall of the moving block 203, and a guide groove matching the guide bar 207 is opened on the lower wall of the mounting platform 205. The lower wall of the mounting platform 205 and the upper wall of the station platform 2 are on the same plane. A second guide rod 208 is installed on the inner wall of the slide groove, and the moving block 203 is movably mounted on the second guide rod 208.

[0071] It should be noted that when the mounting platform 205 moves, it moves on the guide bar 207 through the guide groove, which plays a guiding role for the mounting platform 205, and the second guide rod 208 is used to guide the moving block 203;

[0072] Example 2:

[0073] A working method comprises the following steps:

[0074] Step 1: The first station clamps workpiece A, and the second station clamps workpiece B and keeps it in place;

[0075] Step 2: The first cutting inspection robot and the second cutting inspection robot work in laser cutting mode. The first cutting inspection robot cuts the edge of workpiece A at the first station, while the second cutting inspection robot cuts the edge of workpiece B at the second station.

[0076] Step 3: After the cutting of workpiece A and workpiece B is completed, the staff cleans up the cutting waste;

[0077] Step 4: The first and second workstations operate to swap the positions of workpiece A and workpiece B;

[0078] Step 5: The first cutting inspection robot and the second cutting inspection robot work in the inspection mode, and respectively inspect the edges of the workpiece B clamped at the second station and the workpiece A clamped at the first station;

[0079] Step 6: During testing, the laminating roller contacts the edge of the workpiece, causing the pressure sensor 624 to reach the set value. The distance measuring instrument 609 records the distance to the target plate 611 and compares the distance value with the standard value.

[0080] Step 6.1: If the detected distance value is the same as the standard value, the edge of workpiece A or workpiece B is deemed qualified;

[0081] Step 6.2: If the detected distance value is less than the standard value, it is determined that there is material remaining on the edge, the cutting is not thorough, and workpiece A or workpiece B is unqualified;

[0082] Step 6.3: If the detected distance value is greater than the standard value, it is determined that the edge is overcut and workpiece A or workpiece B is unqualified;

[0083] Step 7: If workpiece A or workpiece B is determined to be unqualified, the control unit stops the control device and manual intervention is required for maintenance.

[0084] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Any changes that may be made to certain parts thereof by those skilled in the art all reflect the principles of the present invention and fall within the scope of protection of the present invention.

Claims

1. A multi-mode laser cutting robot assembly, comprising an operating platform (1) and a control unit, characterized in that: The operating platform (1) is provided with a first cutting inspection robot and a second cutting inspection robot in parallel, the operating platform (1) is provided with a workstation platform (2), the workstation platform (2) is provided with a first workstation and a second workstation in a centrally symmetrical shape, and the control unit is used to control the operation of the first cutting inspection robot, the second cutting inspection robot, the first workstation and the second workstation; The first cutting and inspection robot and the second cutting and inspection robot, the first workstation and the second workstation are arranged corresponding to each other; The first cutting and inspection robot and the second cutting and inspection robot both comprise a base (3) arranged on an operating platform (1); a multi-axis robotic arm (4) is arranged on the base (3); an end motor (5) is arranged at the end of the multi-axis robotic arm (4); and a cutting and inspection integrated machine (6) is arranged at the driving end of the end motor (5); The cutting and inspection integrated machine (6) comprises a connecting frame, one end of which is mounted with a laser cutting head (601), and the other end of which is mounted with a detector; the detector comprises a follower structure, which is mounted on the connecting frame, a box (602) being mounted on the follower structure, two detection connection ends being mounted on the box (602), each of which is mounted with a movable rod (603), and a laminating roller structure being mounted on the movable rod (603).

2. A multi-mode laser cutting robot assembly according to claim 1, characterized in that: Each of the detection connection ends includes a sleeve (604), the sleeve (604) is fixedly mounted on the inner wall of the box (602), the movable rod (603) is movably inserted into the box (602) and the sleeve (604), one end of the movable rod (603) is mounted with a pressure sensor (624), the pressure sensor (624) is mounted with a hollow piston block (605), the hollow piston block (605) is provided with a through hole, the through hole is movably inserted with a first guide rod (606), the first guide rod (606) is fixedly mounted on the inner wall of the sleeve (604), the hollow piston block An air bag (607) is provided on the outer wall surface of (605), an inflation port (608) is provided on the side wall surface of the hollow piston block (605), and the inflation port (608) is communicated with the air bag (607). An elastic component is provided on the hollow piston block (605), a distance measuring instrument (609) is provided on the inner wall surface of the sleeve (604), an air pressure port is provided on the sleeve (604), and a mode adjustment auxiliary component is provided on the sleeve (604) corresponding to the air pressure port. A pneumatic component is provided on the sleeve (604) on one side of the hollow piston block (605) and on the hollow piston block (605).

3. The multi-mode laser cutting robot assembly according to claim 2, characterized in that: The elastic component includes a avoidance rod (610), which is mounted on a hollow piston block (605). A target plate (611) is mounted on one end of the avoidance rod (610). The target plate (611) is arranged corresponding to the distance measuring instrument (609). A spring (612) is arranged between the target plate (611) and the sleeve (604).

4. The multi-mode laser cutting robot assembly according to claim 2, characterized in that: The mode adjustment auxiliary component includes a first electric push rod (613), the first electric push rod (613) is inserted into the sleeve (604), a sealing plate (614) is installed at the telescopic end of the first electric push rod (613), a sealing gasket (615) is provided on the sealing plate (614), and the sealing gasket (615) is arranged corresponding to the air pressure port. The pneumatic power component includes a valve (616), and a two-way air pump (617) is installed at one end of the valve (616).

5. The multi-mode laser cutting robot assembly according to claim 1, characterized in that: The laminating roller structure comprises a mounting plate (618), the mounting plate (618) being mounted on one end of the movable rod (603), and a rotating roller (619) being movably inserted on the mounting plate (618).

6. The multi-mode laser cutting robot assembly according to claim 1, characterized in that: The connecting frame comprises a transverse connecting rod (620), one end of the transverse connecting rod (620) is mounted on the driving end of the end motor (5), the other end of the transverse connecting rod (620) is mounted with a C-shaped rod (621), and the laser cutting head (601) and the follower structure are respectively mounted on the two ends of the C-shaped rod (621).

7. The multi-mode laser cutting robot assembly according to claim 1, characterized in that: The follower structure comprises a stabilizing frame (622), the stabilizing frame (622) is mounted on one end of the C-shaped rod (621), a follower motor (623) is mounted on the stabilizing frame (622), and the box (602) is mounted on the driving end of the follower motor (623).

8. The multi-mode laser cutting robot assembly according to claim 1, characterized in that: The first station and the second station both include a slide, the slide is opened on the station platform (2), a transposition motor (201) is provided on the inner wall of the slide, a lead screw (202) is installed on the driving end of the transposition motor (201), a moving block (203) is movably sleeved on the lead screw (202) through a thread, a second electric push rod (204) is installed on the moving block (203) along the width direction of the slide, a mounting platform (205) is installed on the telescopic end of the second electric push rod (204), and a clamp (206) is provided on the mounting platform (205).

9. The multi-mode laser cutting robot assembly according to claim 8, characterized in that: The upper wall of the moving block (203) is provided with a guide bar (207), the lower wall of the mounting platform (205) is provided with a guide groove that matches the guide bar (207), the lower wall of the mounting platform (205) and the upper wall of the workstation platform (2) are on the same plane, a second guide rod (208) is provided on the inner wall of the slide groove, and the moving block (203) is movably mounted on the second guide rod (208).

10. A working method, applied to a multi-mode laser cutting robot assembly according to any one of claims 1 to 9, characterized in that: The following steps are included: Step 1: The first station clamps workpiece A, and the second station clamps workpiece B and keeps it in place; Step 2: The first cutting inspection robot and the second cutting inspection robot work in laser cutting mode. The first cutting inspection robot cuts the edge of workpiece A at the first station, while the second cutting inspection robot cuts the edge of workpiece B at the second station. Step 3: After the cutting of workpiece A and workpiece B is completed, the staff cleans up the cutting waste; Step 4: The first and second workstations operate to swap the positions of workpiece A and workpiece B; Step 5: The first cutting inspection robot and the second cutting inspection robot work in the inspection mode, and respectively inspect the edges of the workpiece B clamped at the second station and the workpiece A clamped at the first station; Step 6: During the test, the laminating roller contacts the edge of the workpiece, causing the pressure sensor (624) to reach a set value, and the distance measuring instrument (609) records the distance to the standard plate (611), and the distance value is compared with the standard value; Step 6.1: If the detected distance value is the same as the standard value, the edge of workpiece A or workpiece B is deemed qualified; Step 6.2: If the detected distance value is less than the standard value, it is determined that there is material remaining on the edge, the cutting is not thorough, and workpiece A or workpiece B is unqualified; Step 6.3: If the detected distance value is greater than the standard value, it is determined that the edge is overcut and workpiece A or workpiece B is unqualified; Step 7: If workpiece A or workpiece B is determined to be unqualified, the control unit stops the control device and manual intervention is required for maintenance.

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