Manipulator laser cutting device

Abstract

The utility model discloses a manipulator laser cutting device which comprises a rotary positioner, two sides of the rotary positioner are respectively provided with a manipulator, the manipulators are provided with a laser cutting machine, the rotary positioner is provided with an overturning fixing mechanism, the overturning fixing mechanism comprises a fixing frame, and the fixing frame is provided with a laser cutting head. A plurality of outer clamping assemblies, inner clamping assemblies, outer limiting assemblies and inner limiting assemblies are installed on the fixing frame. When a ceiling body workpiece which is a part with certain shape and size requirements is machined, the positioning assemblies are matched with one another, the workpiece can be fixed to the accurate position, the error range can be controlled within a very small interval, the machining precision is guaranteed, and the machining efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a cutting device, specifically to a mechanical hand laser cutting device. BACKGROUND

[0002] SMC composite material is a kind of glass steel, and the main raw material is composed of special yarn, filler and various additives.SMC molding plastic agricultural machinery ceiling, after the main body is made, the main structure of SMC molding plastic ceiling needs to be cut, and the required hole positions such as round hole, waist hole, square hole and special-shaped hole are cut.

[0003] Manual cutting relies on the operator to hold tools (such as electric saws, manual drillers and other traditional instruments), which is difficult to control the stability and precision trajectory, resulting in rough cutting edges and large size deviations.Especially for SMC composite materials with different textures and high processing precision requirements, when cutting round holes, the circumference is irregular, and the roundness error is more than ±1mm;When cutting waist holes and square holes, the key size precision of side length and spacing fluctuates more than ±2mm, and special-shaped holes are difficult to accurately draw by hand due to complex contours, and frequent defects such as "missing angle" and "burr" seriously affect the strength and aesthetics of the ceiling structure. SUMMARY

[0004] In view of the problems mentioned in the background art, the purpose of the utility model is to provide a mechanical hand laser cutting device to solve the problems mentioned in the background art.

[0005] The above technical purpose of the utility model is realized by the following technical scheme:

[0006] A mechanical hand laser cutting device, comprising a rotary positioner, one mechanical hand is arranged on each side of the rotary positioner, a laser cutting machine is installed on the mechanical hand, a turnover fixing mechanism is installed on the rotary positioner, the turnover fixing mechanism comprises a fixed frame, a plurality of outer clamping assemblies, inner clamping assemblies, outer limiting assemblies and inner limiting assemblies are installed on the fixed frame.

[0007] The fixed frame comprises a fixed outer frame, the short side of the fixed outer frame is connected with the rotary positioner, the first support rod, the second support rod, the third support rod, the fourth support rod, the fifth support rod, the sixth support rod and the seventh support rod are sequentially fixed in the fixed outer frame and parallel to the short side, and the eighth support rod and the ninth support rod are fixed in the fixed outer frame and parallel to the long side.

[0008] The outer clamping assembly comprises an outer clamping base and an outer lever cylinder, the outer clamping base is a Z-shaped plate structure, a bottom plate of the outer clamping base is used for fixing the outer lever cylinder, and a top plate of the outer clamping base is matched with an outer pressing rod of the outer lever cylinder to clamp.

[0009] The inner clamping assembly comprises an inner clamping base and an inner rotary clamping cylinder, the inner rotary clamping cylinder is fixed on the inner clamping base, and the number of the inner clamping assemblies is four, wherein two inner clamping assemblies are detachably fixed on the second supporting rod, and the other two inner clamping assemblies are detachably fixed on the fifth supporting rod.

[0010] The outer limiting assembly comprises four outer positioning plates installed on the long side of the fixed outer frame, and the outer positioning plates are L-shaped plates.

[0011] The inner limiting assembly comprises two inner positioning columns, the inner positioning column comprises a positioning bottom plate and a plug-in column fixed vertically on the positioning bottom plate, and the positioning bottom plate is installed between the fourth supporting rod and the fifth supporting rod.

[0012] The long side of the fixed outer frame is further provided with a set of oppositely arranged loft limiting parts and two sets of oppositely arranged positioning blocks, and the top of the positioning block is provided with a positioning groove.

[0013] The eighth supporting rod and the ninth supporting rod are further fixed with auxiliary positioning assemblies, the auxiliary positioning assemblies are arranged between the fifth supporting rod and the sixth supporting rod, the auxiliary positioning assembly comprises an auxiliary positioning rod, an auxiliary limiting part is arranged on the auxiliary positioning rod, one auxiliary baffle is arranged on the two sides of the auxiliary limiting part respectively, and the auxiliary baffle is an inclined circular plate.

[0014] The control method of the utility model is:

[0015] 1. Workpiece placement and preliminary positioning stage

[0016] (1) Workpiece placement:

[0017] Place the ceiling main body workpiece on the fixed frame, make the auxiliary positioning assembly under the workpiece, and use the auxiliary positioning assembly to preliminarily support and roughly position the workpiece.

[0018] (2) Outer frame positioning:

[0019] Position the outer frame of the workpiece through the outer limiting assembly, observe the relative position of the outer frame of the workpiece and the four outer positioning plates (L-shaped plates), ensure that the outer frame of the workpiece is attached to the corresponding side of the outer positioning plate, and realize the preliminary positioning of the outer frame in the horizontal direction.

[0020] (3) Inner hole positioning:

[0021] Move the workpiece, so that the plug-in column of the inner positioning column of the inner limiting assembly passes through the inner hole of the workpiece, ensuring that the plug-in column can be smoothly inserted into the inner hole and the insertion depth is appropriate, thereby achieving preliminary positioning of the workpiece in the vertical direction.

[0022] 2. Workpiece clamping and fixing stage

[0023] (1) Inner clamping operation:

[0024] Start the inner rotary clamping cylinder of the inner clamping assembly, and the inner rotary clamping cylinder starts to work, and the inner pressure rod gradually presses the inner frame provided on the workpiece.

[0025] (2) Outer clamping operation:

[0026] Then start the outer lever cylinder of the outer clamping assembly, and the outer pressure rod of the outer lever cylinder cooperates with the top plate of the outer clamping base under the action of air pressure to clamp the workpiece.

[0027] 3. Turnover and processing stage

[0028] (1) Turnover operation:

[0029] After the workpiece is firmly fixed on the turnover fixing mechanism by the action of the inner and outer clamping assemblies and the limiting assembly, start the rotary displacement machine; according to the processing requirements, accurately turn over the workpiece by controlling the rotation angle and rotation speed of the rotary displacement machine.

[0030] (2) Laser cutting processing operation:

[0031] While the workpiece is turned to the specified angle, move the laser cutting machine by controlling the mechanical hand. According to the pre-set processing path, hole type position and other information, accurately control the mechanical hand to make the cutting head of the laser cutting machine accurately aim at different hole types at different positions of the workpiece. Then start the laser cutting machine to process the workpiece according to the set cutting parameters.

[0032] 4. Processing completion and workpiece taking-out stage

[0033] (1) Processing completion confirmation:

[0034] After the laser cutting processing is completed, check the processed workpiece to confirm that all the hole types and other parts that need to be processed have met the processing requirements.

[0035] (2) Workpiece loosening and taking-out:

[0036] First stop the work of the laser cutting machine, then close the outer lever cylinder of the outer clamping assembly, release the clamping of the workpiece by the outer pressure rod, then close the inner rotary clamping cylinder of the inner clamping assembly, release the inner frame of the workpiece by the inner pressure rod;

[0037] After the inner and outer clamping of the workpiece are released, the workpiece is taken out from the fixed frame, and the whole machining process is completed.

[0038] The utility model has the following beneficial effects:

[0039] (1) The utility model discloses a turnover fixing mechanism has multiple positioning assembly, and the outer positioning plate of outer limiting assembly can carry out horizontal direction accurate positioning to the workpiece outer frame, and the inner positioning column of inner limiting assembly can carry out vertical direction positioning to the workpiece inner hole.When machining the ceiling main workpiece this has certain shape and size requirement part, these positioning assembly cooperates with each other, can fix the workpiece in accurate position, and the error range can be controlled in very small interval.

[0040] (2) The utility model discloses the inner clamping assembly and outer clamping assembly of the utility model can firmly fix the workpiece. The cooperation of the inner rotary clamping cylinder and outer lever cylinder can provide suitable clamping force according to the shape and size of the workpiece, to ensure that the workpiece does not displace during machining, effectively improving the dimensional accuracy and shape accuracy of the machining parts such as cutting hole type.

[0041] (3) The utility model discloses the mechanical hand that sets up respectively on the both sides of rotary positioner, can work simultaneously or alternately, greatly improves the processing efficiency.

[0042] (4) The utility model discloses the rotary positioner can quickly and accurately turn over the workpiece, so that when machining the workpiece with multiple faces or different angle machining requirements, the workpiece can be quickly adjusted to the appropriate machining angle, and the mechanical hand and laser cutting machine are cooperated to carry out efficient machining, avoiding the large amount of time consumed by re-clamping and adjusting the workpiece in the traditional machining method.

[0043] (5) The utility model discloses the characteristic that each component on the fixed frame is detachable and adjustable, and the outer clamping assembly and the inner clamping assembly can be adjusted in position or replaced with different specifications of components according to the size and shape of different workpieces. For different types of ceiling main workpieces, whether circular, square or other special-shaped structures, effective fixation can be achieved through appropriate adjustment, expanding the application range of the device. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is the structure schematic diagram of the utility model;

[0045] Figure 2 It is the structure schematic diagram of the turnover fixing mechanism of the utility model;

[0046] Figure 3 It is the structural schematic view of the outer clamping assembly of the utility model;

[0047] Figure 4 It is the structural schematic view of the inner limiting assembly and the inner limiting assembly of the utility model;

[0048] Figure 5 It is the structural schematic view of the auxiliary positioning group of the utility model.

[0049] Reference signs:

[0050] Rotary displacement machine 1, mechanical hand 2, turnover fixing mechanism 3, fixed frame 4, outer clamping assembly 5, inner clamping assembly 6, outer limiting assembly 7, inner limiting assembly 8, lofting limiting piece 9, positioning block 10, auxiliary positioning assembly 11, workpiece 12, short side 401, long side 402, first support rod 403, second support rod 404, third support rod 405, fourth support rod 406, fifth support rod 407, sixth support rod 408, seventh support rod 409, eighth support rod 410, ninth support rod 411, outer clamping base 501, outer lever cylinder 502, inner clamping base 601, inner rotary clamping cylinder 602, outer positioning plate 701, positioning bottom plate 801, plug-in column 802, positioning groove 1001, auxiliary positioning rod 1101, auxiliary limiting piece 1102, auxiliary baffle 1103. DETAILED DESCRIPTION

[0051] Embodiment one

[0052] Reference Figures 1 to 5 The mechanical hand laser cutting device described in the embodiment includes a rotary displacement machine 1, one mechanical hand 2 is arranged on the two sides of the rotary displacement machine, a laser cutting machine is installed on the mechanical hand, a turnover fixing mechanism 3 is installed on the rotary displacement machine, the turnover fixing mechanism includes a fixed frame 4, a plurality of outer clamping assemblies 5, inner clamping assemblies 6, outer limiting assemblies 7 and inner limiting assemblies 8 are installed on the fixed frame.

[0053] The fixed frame includes a fixed outer frame, the short side 401 of the fixed outer frame is connected with the rotary displacement machine, the first support rod 403, the second support rod 404, the third support rod 405, the fourth support rod 406, the fifth support rod 407, the sixth support rod 408 and the seventh support rod 409 are sequentially fixed in the fixed outer frame and are parallel to the short side, and the eighth support rod 410 and the ninth support rod 411 are fixed in the fixed outer frame and are parallel to the long side 402.

[0054] The outer clamping assembly comprises an outer clamping base 501 and an outer lever cylinder 502, the outer clamping base is a Z-shaped plate structure, the bottom plate of the outer clamping base is used for fixing the outer lever cylinder, and the top plate of the outer clamping base is matched with the outer pressing rod of the outer lever cylinder to clamp; the number of the outer clamping assemblies is four, two of the outer clamping assemblies are detachably fixed on the first supporting rod, and the other two outer clamping assemblies are detachably fixed on the seventh supporting rod.

[0055] The inner clamping assembly comprises an inner clamping base 601 and an inner rotary clamping cylinder 602, the inner rotary clamping cylinder is fixed on the inner clamping base; the number of the inner clamping assemblies is four, two of the inner clamping assemblies are detachably fixed on the second supporting rod, and the other two inner clamping assemblies are detachably fixed on the fifth supporting rod.

[0056] The outer limiting assembly comprises four outer positioning plates 701 installed on the long side of the fixed outer frame, and the outer positioning plate is an L-shaped plate.

[0057] The inner limiting assembly comprises two inner positioning columns, the inner positioning column comprises a positioning bottom plate 801 and a plug-in column 802 fixed vertically on the positioning bottom plate, and the positioning bottom plate is installed between the fourth supporting rod and the fifth supporting rod.

[0058] The long side of the fixed outer frame is further provided with a set of oppositely arranged loft limiting parts 9 and two sets of oppositely arranged positioning blocks 10, and the top of the positioning block is provided with a positioning groove 1001.

[0059] The eighth supporting rod and the ninth supporting rod are further fixed with an auxiliary positioning assembly 11, the auxiliary positioning assembly is arranged between the fifth supporting rod and the sixth supporting rod; the auxiliary positioning assembly comprises an auxiliary positioning rod 1101, an auxiliary limiting part 1102 is arranged on the auxiliary positioning rod, and an auxiliary baffle 1103 is arranged on the two sides of the auxiliary limiting part, and the auxiliary baffle is an inclined circular plate.

[0060] The control method of the utility model is:

[0061] 1, workpiece placement and preliminary positioning stage

[0062] (1) workpiece placement:

[0063] Place the ceiling main body workpiece on the fixed frame, make the auxiliary positioning assembly under the workpiece 12, and use the auxiliary positioning assembly to preliminarily support and roughly position the workpiece.

[0064] (2) outer frame positioning:

[0065] The outer frame of the workpiece is positioned by using the external limiting component. The relative position of the outer frame of the workpiece and the four external positioning plates (L-shaped plates) is observed to ensure that the outer frame of the workpiece fits the corresponding edge of the external positioning plate, thus achieving the initial positioning of the outer frame in the horizontal direction.

[0066] (3) Inner hole positioning:

[0067] Move the workpiece so that the insertion pin of the inner positioning pin of the inner limiting component passes through the inner hole of the workpiece, ensuring that the insertion pin can be smoothly inserted into the inner hole to a suitable depth, thereby achieving the initial positioning of the workpiece in the vertical direction.

[0068] 2. Workpiece clamping and fixing stage

[0069] (1) Internal clamping operation:

[0070] The inner rotary clamping cylinder of the inner clamping assembly is activated, and the inner pressure rod gradually presses against the inner frame of the workpiece.

[0071] (2) External clamping operation:

[0072] Next, the outer lever cylinder of the outer clamping assembly is activated. Under the action of air pressure, the outer pressure rod of the outer lever cylinder cooperates with the top plate of the outer clamping base to clamp the workpiece.

[0073] 3. Turning and processing stage

[0074] (1) Flipping operation:

[0075] Once the workpiece is securely fixed on the flipping and fixing mechanism by the aforementioned inner and outer clamping components and limiting components, the rotary positioner is started. According to the processing requirements, the workpiece is accurately flipped by controlling the rotation angle and rotation speed of the rotary positioner.

[0076] (2) Laser cutting processing operation:

[0077] As the workpiece is rotated to a designated angle, a robotic arm is controlled to move the laser cutting machine. Based on pre-set processing paths, hole positions, and other information, the robotic arm is precisely controlled to ensure that the laser cutting head accurately aligns with the different hole shapes at different locations on the workpiece. Then, the laser cutting machine is started, and the workpiece is laser-cut according to the set cutting parameters.

[0078] 4. Processing completion and workpiece removal stage

[0079] (1) Confirmation of completion of processing:

[0080] After the laser cutting process is completed, the processed workpiece is inspected to confirm that all the holes and other parts that need to be processed have met the processing requirements.

[0081] (2) Workpiece loosening and taking out:

[0082] First, stop the work of the laser cutting machine, then close the outer lever cylinder of the outer clamping assembly, loosen the clamping of the workpiece by the outer pressure rod, and then close the inner rotary clamping cylinder of the inner clamping assembly, so that the inner pressure rod is separated from the inner frame of the workpiece;

[0083] After the inner and outer clamping of the workpiece are loosened, the workpiece is taken out from the fixed frame, and the whole processing flow is completed.

[0084] Example two

[0085] As a further supplement to example one, in this embodiment, automatic detection is realized by cooperation of the PLC controller and various sensors:

[0086] A clamping-in-place feedback sensor is configured for the inner rotary clamping cylinder, connected to the input point X1 of the PLC controller, for detecting whether the inner pressure rod reaches the predetermined clamping position, and outputting a high-level signal to the PLC when clamping-in-place.

[0087] A clamping-in-place feedback sensor is configured for the outer lever cylinder, connected to the input point X2 of the PLC controller, and the clamping state of the outer pressure rod and the top plate of the outer clamping base is fed back in the same way.

[0088] A rotary angle encoder is configured for the rotary positioner, and its signal is connected to the input points X3-X5 of the PLC controller, which real-time feeds back the current rotary angle information of the rotary positioner.

[0089] Contact sensors are configured at the outer positioning plate and the inner positioning column, the four sensors of the outer positioning plate are connected to the input points X6-X9 of the PLC controller, and the input points X10-X11 of the PLC controller are connected to the inner positioning column, once the workpiece contacts the limiting assembly and reaches the correct positioning state, the corresponding sensor outputs a signal to the PLC controller.

[0090] The output point Y1 of the PLC controller is connected to the control solenoid valve of the inner rotary clamping cylinder, which controls the opening and closing of the solenoid valve through the output electric signal, and then controls the clamping and loosening action of the cylinder.

[0091] The control solenoid valve of the outer lever cylinder is connected to the output point Y2 of the PLC controller, which realizes similar control.

[0092] The drive motor controller of the rotary positioner is connected to the output points Y3-Y6 of the PLC controller, which controls the forward rotation, reverse rotation, speed regulation and braking function of the motor respectively, accurately controls the rotary action of the rotary positioner.

[0093] After the workpiece is positioned accurately, the PLC outputs a signal to the control solenoid valve of the inner rotary clamping cylinder (Y1 is powered), and the inner rotary clamping cylinder is started to clamp. The clamping force is controlled by a proportional-integral-derivative (PID) algorithm, and the feedback value of the pressure sensor (connected to another input point of the PLC and converted into a pressure value P 实际 ) is used as the feedback quantity. The preset target clamping force corresponds to a pressure value P 目标 , and the PID algorithm formula is as follows:

[0094]

[0095] Where u(t) is the control output value (affecting the air pressure of the cylinder and then changing the clamping force), e(t) = P 目标 -P 实际 is the deviation value, K p is the proportional coefficient, T i is the integral time constant, and T d is the derivative time constant. By adjusting K p , T i , and T d , P 实际 is quickly and stably close to P 目标 . When P 实际 enters the allowable error range (such as ±ΔP) of P 目标 and the inner clamping is in place feedback sensor (X1) is powered, it is determined that the inner clamping is completed.

[0096] Next, the PLC controls the outer lever cylinder (Y2 is powered) to perform outer clamping action. Similarly, based on the outer clamping force feedback, the pressure sensor at the outer lever cylinder is connected to the corresponding PLC input point for processing, and the above process is used to ensure that the outer clamping meets the predetermined clamping requirements (judged by the outer clamping in place feedback sensor X2).

[0097] After the workpiece is clamped and fixed, according to the processing process requirements, the PLC outputs control signals to the rotary positioner drive motor controller (Y3-Y6) to realize the rotation of the rotary positioner by a preset angle θ 目标 . The number of pulses N fed back by the rotary angle encoder of the rotary positioner is used to calculate the current actual rotation angle θ 实际 :

[0098]

[0099] Where N 总 is the total number of pulses when the encoder rotates one revolution. When |θ 实际 -θ 目标 | ≤ Δθ (allowable angular error), it is determined that the rotary positioner reaches the target position.

[0100] Meanwhile, the PLC controller controls the laser cutting machine to move to the designated machining position according to the preset machining path coordinate data.

[0101] The above is only further embodiment of the utility model patent, but the protection scope of the utility model is not limited to this, any skilled person in the art in the range disclosed by the utility model, according to the technical scheme and the conception of the utility model, equivalent replacement or change are carried out, all belong to the protection scope of the utility model.

Claims

1. A mechanical hand laser cutting device, comprising a rotary positioner (1), one mechanical hand (2) is arranged on each side of the rotary positioner (1), and a laser cutting machine is installed on the mechanical hand (2), characterized in that, The rotating positioner (1) is provided with a turnover fixing mechanism (3), which comprises a fixed frame (4), and a plurality of outer clamping assemblies (5), inner clamping assemblies (6), outer limiting assemblies (7) and inner limiting assemblies (8) are arranged on the fixed frame (4).

2. The laser cutting apparatus of claim 1, wherein The fixed frame (4) comprises a fixed outer frame, the short side (401) of the fixed outer frame is connected with the rotating positioner (1), and the first supporting rod (403), the second supporting rod (404), the third supporting rod (405), the fourth supporting rod (406), the fifth supporting rod (407), the sixth supporting rod (408) and the seventh supporting rod (409) are sequentially fixed in the fixed outer frame and are parallel to the short side (401), and the eighth supporting rod (410) and the ninth supporting rod (411) are fixed in the fixed outer frame and are parallel to the long side (402).

3. The laser cutting apparatus of claim 2, wherein, The outer clamping assembly (5) comprises an outer clamping base (501) and an outer lever air cylinder (502), the outer clamping base (501) is a Z-shaped plate structure, the bottom plate of the outer clamping base (501) is used for fixing the outer lever air cylinder (502), and the top plate of the outer clamping base (501) is matched with the outer pressing rod of the outer lever air cylinder (502) to clamp; the number of the outer clamping assembly (5) is four, two outer clamping assemblies (5) are detachably fixed on the first supporting rod (403), and the other two outer clamping assemblies (5) are detachably fixed on the seventh supporting rod (409).

4. The laser cutting apparatus of claim 2 wherein, The inner clamping assembly (6) comprises an inner clamping base (601) and an inner rotary clamping air cylinder (602), and the inner rotary clamping air cylinder (602) is fixed on the inner clamping base (601); the number of the inner clamping assembly (6) is four, two inner clamping assemblies (6) are detachably fixed on the second supporting rod (404), and the other two inner clamping assemblies (6) are detachably fixed on the fifth supporting rod (407).

5. The laser cutting apparatus of claim 2 wherein, The outer limiting assembly (7) comprises four outer positioning plates (701) arranged on the long side (402) of the fixed outer frame, and the outer positioning plate (701) is an L-shaped plate.

6. The laser cutting apparatus of claim 2 wherein, The inner limiting assembly (8) comprises two inner positioning columns, the inner positioning column comprises a positioning bottom plate (801) and a plug-in column (802) vertically fixed on the positioning bottom plate (801), and the positioning bottom plate (801) is arranged between the fourth supporting rod (406) and the fifth supporting rod (407).

7. The laser cutting apparatus of claim 2 wherein, The long side (402) of the fixed outer frame is also provided with a set of oppositely arranged loft limiting parts (9) and two sets of oppositely arranged positioning blocks (10), and the top of the positioning block (10) is provided with a positioning groove (1001).

8. The laser cutting apparatus of claim 2 wherein, The eighth support rod (410) and the ninth support rod (411) are further provided with an auxiliary positioning assembly (11), the auxiliary positioning assembly (11) comprises an auxiliary positioning rod (1101), the auxiliary positioning rod (1101) is provided with an auxiliary limiting piece (1102), and the two sides of the auxiliary limiting piece (1102) are respectively provided with an auxiliary baffle (1103).

9. The laser cutting apparatus of claim 8 wherein, The auxiliary positioning assembly (11) is arranged between the fifth support rod (407) and the sixth support rod (408).

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