Multi-mode profile steel cutting robot and working method

Abstract

The invention discloses a multi-mode profile steel cutting robot and a working method, and belongs to the technical field of profile steel cutting, the multi-mode profile steel cutting robot comprises a truss, a walking mechanism is arranged at the bottom of the truss, a driving mechanism is arranged on the truss, a cutting head is arranged at the bottom of the driving mechanism, and the cutting head can be driven by the driving mechanism to move and swing. The traveling mechanism drives the driving mechanisms to get close to the material frame, and when the material frame is perpendicular to the truss and the sectional materials are parallel to the truss, the cutting tasks on the single sectional materials are distributed to the driving mechanisms according to areas to cooperatively complete cutting; and when the material frame is parallel to the truss and the profiles are perpendicular to the truss, the cutting tasks of the multiple profiles are distributed to all the driving mechanisms according to areas to cooperatively complete cutting. The problems that existing equipment is large in fixed occupied area and low in cutting efficiency and depends on a special material frame are solved, and flexible movement, multi-mode efficient cutting and self-adaptive machining operation of a common plane material frame are achieved.

Description

Technical Field

[0001] This invention relates to the field of steel section cutting technology, specifically to a multi-mode steel section cutting robot and cutting method. Background Technology

[0002] In fields such as steel structure manufacturing, petrochemicals, and marine engineering, structural steel sections serve as primary structural load-bearing components, and their cutting quality and efficiency directly impact the progress and cost of the entire project. Currently, the most widely used structural steel cutting equipment in the industry is the fixed gantry cutting machine, which faces the following technical challenges in actual production: Fixed cutting equipment requires the laying of dedicated tracks, the construction of installation foundations, and the configuration of dedicated cutting racks. This requires occupying an entire fixed area in the workshop, and the installation and commissioning cycle is long. For companies with limited space or frequently changing production tasks, the equipment utilization rate is low, the equipment occupies a large area, and the installation cost is high.

[0003] Furthermore, existing cutting equipment mainly adopts a fixed mode of cutting one section at a time with a single cutting head, which cannot flexibly adjust the cutting process according to the layout of the material rack. In addition, the traditional cutting method can only achieve one-time cutting of a single profile. When it is necessary to cut both ends of the profile, it is still necessary to complete the cutting of both ends of each material one by one before switching to the next one. This results in the cutting head frequently making ineffective back and forth above the material rack, with long idle stroke time and low cutting efficiency, which makes it difficult to meet the high efficiency requirements of mass production. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides a multi-mode steel cutting robot and its working method, which solves the problems of large fixed footprint, low cutting efficiency, and reliance on special material racks in existing equipment, and achieves flexible movement, high-efficiency multi-mode cutting, and adaptive processing of ordinary flat material racks.

[0005] The technical solution of the present invention is as follows: In a first aspect of the invention, a multi-mode steel cutting robot is provided, including a truss, a walking mechanism at the bottom of the truss, a driving mechanism on the truss, and a cutting head at the bottom of the driving mechanism. The cutting head can move and swing under the drive of the driving mechanism. The walking mechanism drives the driving mechanism to approach the material rack. When the material rack is perpendicular to the truss and the profiles are parallel to the truss, the cutting tasks on a single profile are allocated to each driving mechanism according to the area, driving the cutting head to work together to complete the cutting. When the material rack is parallel to the truss and the profiles are perpendicular to the truss, the cutting tasks on multiple profiles are allocated to each driving mechanism according to the area, driving the cutting head to work together to complete the cutting.

[0006] In some embodiments of the present invention, two traveling mechanisms are provided, which are respectively arranged at both ends of the truss along the length direction of the truss. The traveling mechanism includes a support frame, and the two ends of the support frame along the width direction of the truss are respectively provided with a first wheel group and a second wheel group. The top of the support frame is provided with a suspension assembly, which is connected to the truss.

[0007] In some embodiments of the present invention, one end of the support frame is provided with a drive unit, the output end of the drive unit is connected to a reducer, the reducer is connected to a first wheel set, and the first wheel set is connected to a second wheel set via a synchronous belt.

[0008] In some embodiments of the present invention, the first wheel group and the second wheel group are each configured as two rubber wheels, the two rubber wheels are spaced apart by a set distance along the axial direction, and the timing belt is circumferentially sleeved between the two rubber wheels of the first wheel group and the second wheel group.

[0009] In some embodiments of the present invention, the suspension assembly includes a suspension beam, one end of which is provided with a pin connection structure and mounted on a support frame near the first wheel set, and a gap-eliminating pad is provided between the pin connection structure and the support frame; the other end of the suspension beam is provided with a spring connection structure and connected to a support frame near the second wheel set, and a gap-eliminating pad is provided between the spring connection structure and the support frame.

[0010] In some embodiments of the present invention, the driving mechanism includes an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The X-axis guide rail, Y-axis guide rail, and Z-axis guide rail are configured as mutually perpendicular linear guide rails. The Y-axis guide rail is arranged on the truss along the length direction of the truss. The X-axis guide rail is slidably arranged on the Y-axis guide rail along the width direction of the truss. The Z-axis guide rail is vertically slidably arranged on the X-axis guide rail. A rotary motor is provided at the end of the Z-axis guide rail. A swing motor is provided at the output end of the rotary motor. A cutting head is provided at the output end of the swing motor.

[0011] In some embodiments of the present invention, an industrial camera is also included, the industrial camera being mounted on a truss and / or drive mechanism; The drive mechanism is equipped with a touch positioning sensor, which allows the drive mechanism to obtain the actual position of the material through a progressive two-touch method.

[0012] In a second aspect of the invention, a method for operating a multi-mode steel cutting robot is provided, employing the aforementioned multi-mode steel cutting robot, comprising: Move the cutting robot to the designated position, obtain the material rack layout and profile placement. When the material rack is perpendicular to the truss and the profile is parallel to the truss, the drive mechanism is set to one, which drives the cutting head to cut the current single profile. The next profile is cut in sequence according to the cutting order. When the drive mechanism is set to two or more, the cutting task on the single profile is assigned to each drive mechanism according to the area, which drives the cutting head to complete the cutting together. When the material rack is parallel to the truss and the profile is perpendicular to the truss, the drive mechanism is set to one, which drives the cutting head to cut the first end of all profiles first, and then cut the second end of all profiles according to the cutting sequence; when the drive mechanism is set to two or more, the cutting tasks of multiple profiles are assigned to each drive mechanism according to the area, and the cutting head is driven to complete the cutting in coordination.

[0013] In some embodiments of the present invention, when an industrial camera is installed only on the truss, the image of the material rack and profile is obtained through the industrial camera, the placement position and posture of the material rack and profile are analyzed and determined, and according to the placement position and posture of the material rack and profile, the drive mechanism obtains the actual cutting position of the profile by gradually touching the profile twice through a touch positioning sensor. When an industrial camera is installed only on the drive mechanism, images of the material rack and profile placement are acquired through the industrial camera, and the placement position and posture of the material rack and profile are analyzed and determined to preliminarily determine the profile cutting position. The drive mechanism obtains the actual cutting position of the profile by gradually touching the profile twice through a touch positioning sensor. When industrial cameras are installed on both the truss and the drive mechanism, images of the material rack and profile placement are acquired through the industrial cameras. The placement position and posture of the material rack and profile are analyzed and determined, and the profile cutting position is initially determined. The drive mechanism obtains the actual cutting position of the profile by gradually touching the profile twice through a touch positioning sensor.

[0014] In some embodiments of the present invention, the drive mechanism acquires the position dimensions of the material rack during the cutting process, calculates the interference area with the profile based on the size of the cutting head and the position dimensions of the material rack, and adjusts the tilt angle of the cutting head to perform oblique cutting when the cutting head reaches a set distance before reaching the interference area in order to avoid the material rack.

[0015] One or more technical solutions of the present invention have the following beneficial effects: The walking mechanism enables the cutting robot to move flexibly. The walking mechanism adopts a four-wheel double suspension structure, including the first wheel group, the second wheel group, the drive unit and the suspension assembly, which allows the robot to move freely in the workshop without the need for tracks and special foundations. The equipment can be moved away when it is not in use, without occupying a fixed site, realizing a human-machine coexistence working mode, and significantly reducing the equipment's footprint and installation costs.

[0016] The system automatically switches between two cutting modes based on the relative layout of the material rack and truss. When the material rack and truss are parallel and the profile is perpendicular to the truss, a two-end batch cutting mode is used, cutting the first end of all profiles first and then the second end, avoiding the cutting head running back and forth on both sides of the material rack. When there are two or more drive mechanisms, the cutting tasks for multiple profiles can be assigned to each drive mechanism according to the area, driving the cutting head to complete the cutting collaboratively. When the material rack and truss are perpendicular and the profile is parallel to the truss, a single profile partition cutting mode is used, assigning the cutting tasks on a single profile to multiple drive mechanisms according to the area, driving the cutting head to complete the cutting in parallel. Through mode switching and collaborative operation, the idle travel time of the drive mechanism is greatly reduced, significantly improving the cutting efficiency of batch profiles.

[0017] By installing industrial cameras on the truss and drive mechanism, images of the material rack and profiles are acquired and their positions and orientations are analyzed and determined. The actual position of the profiles is obtained through a progressive two-touch method using touch-based positioning sensors. During the cutting process, the interference zone is calculated based on the size of the cutting head and the position of the material rack. When the cutting head approaches the interference zone, the tilt angle of the cutting head is adjusted to make a bevel cut to avoid the material rack. This allows the equipment to use common flat material racks on steel structures, eliminating the need for a dedicated anti-collision platform, significantly reducing equipment operating costs and improving the equipment's adaptability to different material racks. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a single drive mechanism of a multi-mode steel cutting robot provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the overall structure of the dual-drive mechanism of a multi-mode steel cutting robot provided in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the cutting state when the material rack and truss are perpendicular and the profile is parallel to the truss, as provided in Embodiment 1 of the present invention. Figure 4 This is a schematic diagram of the cutting state when the material rack and truss are parallel and the profile is perpendicular to the truss, as provided in Embodiment 1 of the present invention. Figure 5 This is an axonometric schematic diagram of the walking mechanism provided in Embodiment 1 of the present invention; Figure 6 This is a side view of the walking mechanism provided in Embodiment 1 of the present invention; Figure 7 This is a top view of the walking mechanism provided in Embodiment 1 of the present invention.

[0019] In the diagram: 1. Truss; 2. Walking mechanism; 21. Support frame; 22. First wheel set; 23. Second wheel set; 24. Suspension assembly; 241. Suspension beam; 242. Pin shaft connection structure; 243. Spring connection structure; 25. Drive unit; 26. Reducer; 27. Synchronous belt; 28. Clearance-eliminating pad; 3. Drive mechanism; 31. X-axis guide rail; 32. Y-axis guide rail; 33. Z-axis guide rail; 34. Rotary motor; 35. Swing motor; 36. Cutting head; 4. Material rack; 5. Profiles. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Example 1 In a typical embodiment of the present invention, such as Figures 1 to 7 As shown, a multi-mode steel cutting robot is proposed, including a truss 1, a walking mechanism 2 at the bottom of the truss 1, a drive mechanism 3 on the truss 1, and a cutting head 36 at the bottom of the drive mechanism 3. The cutting head can move and swing under the drive of the drive mechanism 3. The walking mechanism 2 drives the drive mechanism 3 to approach the material rack 4. When the material rack 4 is perpendicular to the truss 1 and the profile 5 is parallel to the truss 1, the cutting task on a single profile 5 is allocated to each drive mechanism 3 according to the area, and the cutting head 36 is driven to complete the cutting collaboratively. When the material rack 4 is parallel to the truss 1 and the profile 5 is perpendicular to the truss 1, the cutting task on multiple profiles 5 is allocated to each drive mechanism 3 according to the area, and the cutting head 36 is driven to complete the cutting collaboratively.

[0022] By incorporating a walking mechanism 2, the cutting robot gains mobility, eliminating the need for tracks and dedicated foundations. It can flexibly move between different areas of the workshop and can be moved when not in use, significantly reducing its footprint and installation costs. Simultaneously, the drive mechanism 3 automatically switches between two cutting modes based on the relative layout of the material rack 4 and the truss 1. When the material rack 4 is perpendicular to the truss 1 and the profile 5 is parallel to the truss 1, the profiles 5 are arranged laterally side-by-side. In this mode, a single profile 5 is cut in sections, distributing multiple cutting tasks on a single long profile 5 to multiple cutting heads 36 for parallel completion. This fully leverages the collaborative advantages of multiple cutting heads 36, significantly shortening the processing time for a single profile 5. When the material rack 4 is parallel to the truss 1 and the profile 5 is perpendicular to the truss 1, the profiles 5 are arranged longitudinally side-by-side. In this mode, a batch cutting mode is used, first cutting the first ends of all profiles 5 uniformly, then cutting the second ends of all profiles 5 uniformly. This avoids the cutting heads 36 running back and forth on both sides of the material rack 4, significantly improving the overall cutting efficiency of batch profiles 5.

[0023] Two traveling mechanisms 2 are provided, which are respectively set at both ends of the truss 1 along the length direction of the truss 1. The traveling mechanism 2 includes a support frame 21. The support frame 21 is provided at both ends along the width direction of the truss 1 with a first wheel group 22 and a second wheel group 23 respectively. The top of the support frame 21 is provided with a suspension assembly 24, which is connected to the truss 1.

[0024] The walking mechanism 2, located at both ends, balances the force on the truss 1, avoiding the risk of overturning caused by a single cantilever and ensuring stability during movement. The first wheel group 22 and the second wheel group 23 form a four-wheel support structure at both ends of the support frame 21, improving the overall load-bearing capacity and stability of the machine. The suspension assembly 24 buffers the impact and vibration caused by uneven ground, protecting the drive mechanism 3 from impact damage. In this embodiment, the walking mechanism 2, in conjunction with a cable reel, powers the entire machine, enabling the robot to move extensively within the workshop without being limited by cable length. Furthermore, the symmetrical layout of the walking mechanism 2 provides a stable foundation for subsequent implementation of various cutting modes.

[0025] One end of the support frame 21 is provided with a drive unit 25. The output end of the drive unit 25 is connected to the reducer 26. The reducer 26 is connected to the first wheel set 22. The first wheel set 22 is connected to the second wheel set 23 through the synchronous belt 27.

[0026] The system employs a single drive unit 25 that drives the first wheel group 22 and the second wheel group 23 via a synchronous belt 27, achieving synchronous four-wheel drive. Compared to having an independent drive motor for each wheel group, this significantly simplifies the transmission system structure, reduces manufacturing costs and failure rates, while ensuring consistent speed across all wheel groups to prevent skewed movement. The servo drive motor, tensioned via the synchronous belt 27, drives the first wheel group 22 and the second wheel group 23, ensuring stable torque transmission and adapting to wear compensation during long-term operation. This transmission method results in a compact overall size for the walking mechanism 2, facilitating flexible movement within confined spaces.

[0027] The first wheel group 22 and the second wheel group 23 are both configured with two rubber wheels, with a set distance between the two rubber wheels along the axial direction. The synchronous belt 27 is circumferentially sleeved between the interval of the two rubber wheels of the first wheel group 22 and the second wheel group 23.

[0028] The double rubber wheel design increases the contact area with the ground, improving walking stability and grip. Especially when supporting the truss 1 and drive mechanism 3, it disperses ground pressure. The spacing between the rubber wheels provides a compact installation space for the synchronous belt 27, making the transmission structure more compact and aesthetically pleasing. More importantly, this spacing can also be used to install ground guide strips. When workshop floor conditions are poor, strip-shaped guides can be laid on the ground and inserted into the gap between the two rubber wheels to achieve physical guidance, preventing the robot from swerving and enabling it to cope with harsh ground conditions. At the same time, the choice of rubber wheel material ensures low noise and good shock absorption performance during movement.

[0029] The suspension assembly 24 includes a suspension beam 241. One end of the suspension beam 241 is provided with a pin connection structure 242 and is installed with a support frame 21 near the first wheel set 22. A gap-eliminating pad 28 is provided between the pin connection structure 242 and the support frame 21. The other end of the suspension beam 241 is provided with a spring connection structure 243 and is connected with a support frame 21 near the second wheel set 23. A gap-eliminating pad 28 is provided between the spring connection structure 243 and the support frame 21.

[0030] The suspension structure of the suspension beam 241, with a pin at one end and a spring at the other, forms a typical single-point hinge with elastic support. The pin connection structure 242 provides rotational freedom, allowing the truss 1 to swing slightly with the undulations of the ground. The spring connection structure 243 compensates for the height difference of the wheel set caused by uneven ground through elastic deformation, preventing the wheel set from slipping. More importantly, both the pin connection structure 242 and the spring connection structure 243 are equipped with gap-eliminating pads 28 to eliminate the fit clearance in the mechanism. This prevents the reaction force generated during the movement of the truss 1 mechanism from causing lateral displacement of the caster suspension mechanism, thereby ensuring that the relative positional accuracy between the drive mechanism 3 and the profile 5 is not affected by the clearance of the walking mechanism 2.

[0031] The drive mechanism 3 includes an X-axis guide rail 31, a Y-axis guide rail 32, and a Z-axis guide rail 33. The X-axis guide rail 31, Y-axis guide rail 32, and Z-axis guide rail 33 are set as mutually perpendicular linear guide rails. The Y-axis guide rail 32 is set on the truss 1 along the length direction of the truss 1. The X-axis guide rail 31 is slidably set on the Y-axis guide rail 32 along the width direction of the truss 1. The Z-axis guide rail 33 is vertically slidably set on the X-axis guide rail 31. A rotary motor 34 is provided at the end of the Z-axis guide rail 33. A swing motor 35 is provided at the output end of the rotary motor 34. A cutting head 36 is provided at the output end of the swing motor 35.

[0032] The three-axis linear motion of the X-axis guide rail 31, Y-axis guide rail 32, and Z-axis guide rail 33, combined with the two-axis oscillation of the rotary motor 34 and the oscillating motor 35, forms a five-axis linkage cutting capability, enabling multi-mode cutting of the profile 5. The sliding installation of each axis guide rail results in a compact structure and flexible movement, allowing the cutting head 36 ample space. The rotary motor 34 and the oscillating motor 35 enable the cutting head 36 to oscillate in two directions, providing a motion basis for the subsequent material rack 4 avoidance function, allowing the cutting head 36 to flexibly oscillate and avoid interference from the material rack 4.

[0033] It also includes an industrial camera, which is mounted on the truss 1 and / or the drive mechanism 3; the drive mechanism 3 is equipped with a touch positioning sensor, which obtains the actual position of the material in a progressive two-touch manner.

[0034] Depending on the actual working conditions, an industrial camera can be selectively mounted on at least one of the truss 1 or drive mechanism 3. The industrial camera can quickly acquire images of a large area of ​​material placement for overall path planning and pattern selection, essentially providing the robot with macroscopic vision. The touch-based positioning sensor accurately acquires the actual position of the profile 5 using a progressive two-touch method. The first touch acquires a coarse position at a relatively fast speed, while the second touch acquires a precise position at a slower speed based on the first result. This progressive positioning method is faster with each touch, avoiding the collision risk caused by blind positioning and improving positioning efficiency. The combination of these two methods balances global positioning efficiency and local positioning accuracy, solving the practical problem of cutting deviation caused by inaccurate manual material placement. Furthermore, the industrial camera can also be used to identify the position of the material rack 4, providing data support for subsequent obstacle avoidance algorithms.

[0035] In a second aspect of the invention, a method for operating a multi-mode steel cutting robot is provided, employing the proposed multi-mode steel cutting robot, comprising: Move the cutting robot to the designated position, obtain the layout of the material rack 4 and the placement of the profile 5. When the material rack 4 is perpendicular to the truss 1 and the profile 5 is parallel to the truss 1, the drive mechanism 3 is set to one, which drives the cutting head 36 to cut the current single profile 5. The next profile 5 is cut in sequence according to the cutting order. When the drive mechanism 3 is set to two or more, the cutting task on the single profile 5 is assigned to each drive mechanism 3 according to the area, which drives the cutting head 36 to complete the cutting together. When the material rack 4 is parallel to the truss 1 and the profile 5 is perpendicular to the truss 1, the drive mechanism 3 is set to one, which drives the cutting head 36 to cut the first end of all profiles 5 according to the cutting sequence, and then cuts the second end of all profiles 5. When the drive mechanism 3 is set to two or more, the cutting tasks of multiple profiles 5 are assigned to each drive mechanism 3 according to the area, and the cutting head 36 is driven to complete the cutting in coordination.

[0036] The optimal cutting mode is automatically matched based on different material rack layouts. When the material rack 4 is perpendicular to the truss 1 and the profile 5 is parallel to the truss 1, a single profile 5 is cut in sections. This reduces the processing time of a single profile 5 by having multiple cutting heads 36 working in parallel, which is suitable for long profiles 5 with multiple cutting points. When the material rack 4 is parallel to the truss 1 and the profile 5 is perpendicular to the truss 1, a two-end batch cutting mode is used. The first end of all profiles 5 is cut uniformly first, and then the second end is cut uniformly. Both of these cutting modes effectively avoid the cutting heads 36 running back and forth on both sides of the material rack 4, significantly improving the cutting efficiency of batch profiles 5. In addition, this working method allows humans and machines to work in the same area. When the robot is working, it moves to a designated position. When the machine is not working, it can be stored away, and the area can be converted into a manual work area, eliminating the need to occupy space for the equipment and improving the utilization rate of the workshop space.

[0037] When an industrial camera is installed only on the truss 1, the image of the material rack 4 and profile 5 is obtained through the industrial camera. The position and posture of the material rack 4 and profile 5 are analyzed and determined. Based on the position and posture of the material rack 4 and profile 5, the drive mechanism 3 obtains the actual cutting position of the profile 5 by touching the positioning sensor in a progressive two-step touching manner. When an industrial camera is set on the drive mechanism 3, the image of the material rack 4 and profile 5 is obtained by the industrial camera. The position and posture of the material rack 4 and profile 5 are analyzed and determined. The cutting position of profile 5 is initially determined. The drive mechanism 3 obtains the actual cutting position of profile 5 by touching the positioning sensor in a progressive two-step touching manner. When industrial cameras are installed on both the truss 1 and the drive mechanism 3, images of the material rack 4 and profile 5 are acquired through the industrial cameras. The placement position and posture of the material rack 4 and profile 5 are analyzed and determined, and the cutting position of the profile 5 is initially determined. The drive mechanism 3 obtains the actual cutting position of the profile 5 by gradually touching the profile 5 twice through a touch positioning sensor.

[0038] During the cutting process, the drive mechanism 3 obtains the position size of the material rack 4, calculates the interference area with the profile 5 based on the size of the cutting head 36 and the position size of the material rack 4, and adjusts the tilt angle of the cutting head 36 to make a slanted cut to avoid the material rack 4 when the cutting head 36 reaches the interference area at a set distance.

[0039] In the existing technology, cutting equipment must rely on a special anti-collision material table to avoid interference between the cutting head 36 and the material rack 4. Traditional equipment cannot automatically adjust the cutting posture according to the position of the ordinary planar material rack 4 when planning the cutting path. It can only prevent collisions by using a specially designed obstacle avoidance material table or complex tooling fixtures. This results in the equipment being highly dependent on the material rack 4, having poor adaptability, and high operating costs.

[0040] Understandably, when using a flat material rack 4 to feed multiple profiles 5 in batch processing, it is necessary to consider the potential for collisions and interference between the different heights of the multiple profiles 5 on the flat material rack 4 and the cutting head 36. By combining global positioning with industrial camera positioning with precise local positioning via touch, the accuracy of the cutting position is ensured. By pre-setting the position and dimensions of the material rack 4 or visually recognizing the position of the material rack 4, the avoidance space is calculated based on the position of the material rack 4 and the dimensions of the cutting head 36. The cutting head 36 is automatically given an inclined cutting angle at the places where interference with the material rack 4 may occur, thus avoiding collisions between the cutting head 36 and the material rack 4 through oblique cutting.

[0041] This setup eliminates the need for expensive dedicated anti-collision material racks, allowing the equipment to use the common flat material racks 4 found on steel structures, significantly reducing equipment operating costs and improving the equipment's adaptability to different material racks 4. At the same time, operators can plan cutting tasks in a direction perpendicular to the material according to the actual working conditions to avoid creating inclined surfaces.

[0042] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A multi-mode steel cutting robot, characterized in that, The device includes a truss, with a traveling mechanism at its bottom and a driving mechanism on the truss. A cutting head is located at the bottom of the driving mechanism, and the cutting head can move and swing under the drive of the driving mechanism. The traveling mechanism drives the driving mechanism closer to the material rack. When the material rack is perpendicular to the truss and the profiles are parallel to the truss, the cutting tasks on a single profile are allocated to each driving mechanism according to their respective areas, driving the cutting heads to collaboratively complete the cutting. When the material rack is parallel to the truss and the profiles are perpendicular to the truss, the cutting tasks on multiple profiles are allocated to each driving mechanism according to their respective areas, driving the cutting heads to collaboratively complete the cutting.

2. The multi-mode steel cutting robot as described in claim 1, characterized in that, The walking mechanism is provided in two parts, which are respectively arranged at both ends of the truss along the length direction of the truss. The walking mechanism includes a support frame, and the support frame is provided with a first wheel group and a second wheel group at both ends along the width direction of the truss. The top of the support frame is provided with a suspension assembly, which is connected to the truss.

3. The multi-mode steel cutting robot as described in claim 2, characterized in that, One end of the support frame is provided with a drive unit, the output end of the drive unit is connected to a reducer, the reducer is connected to a first wheel set, and the first wheel set is connected to a second wheel set via a synchronous belt.

4. The multi-mode steel cutting robot as described in claim 2, characterized in that, The first and second wheel sets are each configured with two rubber wheels, which are spaced a certain distance apart axially. The timing belt is circumferentially sleeved between the two rubber wheels of the first and second wheel sets.

5. A multi-mode steel cutting robot as described in claim 2, characterized in that, The suspension assembly includes a suspension beam. One end of the suspension beam is provided with a pin connection structure and is installed on a support frame near the first wheel assembly. A gap-eliminating pad is provided between the pin connection structure and the support frame. The other end of the suspension beam is provided with a spring connection structure and is connected to a support frame near the second wheel assembly. A gap-eliminating pad is provided between the spring connection structure and the support frame.

6. The multi-mode steel cutting robot as described in claim 1, characterized in that, The driving mechanism includes an X-axis guide rail, a Y-axis guide rail, and a Z-axis guide rail. The X-axis guide rail, Y-axis guide rail, and Z-axis guide rail are configured as mutually perpendicular linear guide rails. The Y-axis guide rail is arranged on the truss along the length direction of the truss. The X-axis guide rail is slidably arranged on the Y-axis guide rail along the width direction of the truss. The Z-axis guide rail is vertically slidably arranged on the X-axis guide rail. A rotary motor is provided at the end of the Z-axis guide rail. A swing motor is provided at the output end of the rotary motor. A cutting head is provided at the output end of the swing motor.

7. The multi-mode steel cutting robot as described in claim 1, characterized in that, It also includes an industrial camera, which is mounted on the truss and / or drive mechanism; The drive mechanism is equipped with a touch positioning sensor, which obtains the actual position of the material through a progressive two-touch method.

8. A working method for a multi-mode steel cutting robot, characterized in that, The multi-mode steel cutting robot as described in claim 6 or 7 includes: Move the cutting robot to the designated position, obtain the material rack layout and profile placement. When the material rack is perpendicular to the truss and the profile is parallel to the truss, the drive mechanism is set to one, which drives the cutting head to cut the current single profile. The next profile is cut in sequence according to the cutting order. When the drive mechanism is set to two or more, the cutting task on the single profile is assigned to each drive mechanism according to the area, which drives the cutting head to complete the cutting together. When the material rack is parallel to the truss and the profile is perpendicular to the truss, the drive mechanism is set to one, which drives the cutting head to cut the first end of all profiles first, and then cut the second end of all profiles according to the cutting sequence; when the drive mechanism is set to two or more, the cutting tasks of multiple profiles are assigned to each drive mechanism according to the area, and the cutting head is driven to complete the cutting in coordination.

9. The working method of a multi-mode steel cutting robot as described in claim 8, characterized in that, When an industrial camera is installed only on the truss, images of the material rack and profile are obtained through the industrial camera. The placement position and posture of the material rack and profile are analyzed and determined. Based on the placement position and posture of the material rack and profile, the drive mechanism obtains the actual cutting position of the profile by touching the positioning sensor in a progressive two-touch manner. When an industrial camera is installed only on the drive mechanism, images of the material rack and profile placement are acquired through the industrial camera, and the placement position and posture of the material rack and profile are analyzed and determined to preliminarily determine the profile cutting position. The drive mechanism obtains the actual cutting position of the profile by gradually touching the profile twice through a touch positioning sensor. When industrial cameras are installed on both the truss and the drive mechanism, images of the material rack and profile placement are acquired through the industrial cameras. The placement position and posture of the material rack and profile are analyzed and determined, and the profile cutting position is initially determined. The drive mechanism obtains the actual cutting position of the profile by gradually touching the profile twice through a touch positioning sensor.

10. The working method of a multi-mode steel cutting robot as described in claim 8, characterized in that, The drive mechanism acquires the position dimensions of the material rack during the cutting process, calculates the interference area with the profile based on the size of the cutting head and the position dimensions of the material rack, and adjusts the tilt angle of the cutting head to make a slanted cut to avoid the material rack when the cutting head reaches the interference area at a set distance.

Images