A three-dimensional laser pipe cutting robot

Abstract

The utility model relates to the technical field of pipe processing, specifically relates to a three -dimensional laser pipe cutting robot, include: plane moving subassembly, connect with multi -axis mechanical arm, the multi -axis mechanical arm is equipped with laser cutting head, the multi -axis mechanical arm is suitable for adjusting laser cutting head and the interval and angle of pipe surface, the positioner is located one side of plane moving subassembly, the pipe is arranged on the positioner, is suitable for driving pipe and rotates, controller is with Plane moving subassembly, multi -axis mechanical arm, laser cutting head and positioner signal connection, built -in pipe three -dimensional model and the cutting path based on three -dimensional model, the controller is suitable for controlling plane moving subassembly, multi -axis mechanical arm, laser cutting head and positioner cooperation work to realize the cutting work of reference cutting path. In this application, through the integration plane moving subassembly, multi -axis mechanical arm, positioner and controller, realized the whole process cooperation control.

Description

Technical Field

[0001] This utility model relates to the field of pipe processing technology, specifically to a three-dimensional laser pipe cutting robot. Background Technology

[0002] With the continuous development of the steel structure manufacturing industry, the laser cutting equipment industry is also expanding rapidly. Due to its advantages such as high precision, high efficiency, and low cost, more and more companies are adopting this technology for production.

[0003] Traditional cutting methods require one worker to cut the pipe along a cutting path, while another worker needs to lift and move the pipe to facilitate the cutting process. However, this method is inefficient, highly dependent on worker skills, and time-consuming and labor-intensive. Utility Model Content

[0004] In view of this, the present invention provides a three-dimensional laser pipe cutting robot to solve the problems of low cutting efficiency and high dependence on worker skills in existing cutting methods.

[0005] This utility model provides a three-dimensional laser pipe cutting robot, comprising:

[0006] A planar moving component is connected to a multi-axis robotic arm, the multi-axis robotic arm being equipped with a laser cutting head, and the multi-axis robotic arm being adapted to adjust the distance and angle between the laser cutting head and the surface of the pipe;

[0007] A positioner is located on one side of the planar moving assembly, and the pipe is mounted on the positioner to drive the pipe to rotate;

[0008] The controller is connected to the planar moving component, multi-axis robotic arm, laser cutting head, and positioner via signals. It has a built-in three-dimensional model of the pipe and a cutting path based on the three-dimensional model. The controller is suitable for controlling the planar moving component, multi-axis robotic arm, laser cutting head, and positioner to work together to achieve cutting work based on the reference cutting path.

[0009] This application achieves end-to-end collaborative control by integrating a planar motion component, a multi-axis robotic arm, a positioner, and a controller. The controller directly calls the 3D model to generate the cutting path and embeds the cutting path within the controller to guide the specific cutting process, eliminating the traditional 2D drawing conversion step and significantly shortening programming time. The multi-axis robotic arm dynamically adjusts the distance and angle between the laser cutting head and the pipe surface, ensuring that the cutting focus is always in the optimal position, improving cut smoothness, and preventing the distance and angle between the laser cutting head and the pipe surface from being too small or too large. The positioner can rotate the pipe in real time to coordinate with the robotic arm's movement, ensuring a continuous and uninterrupted trajectory during intersecting line cutting, avoiding misalignment problems caused by manual adjustments in traditional processes. This application reduces reliance on operator skills and improves cutting efficiency.

[0010] In one alternative implementation, it further includes:

[0011] A line laser scanning device, integrated into the laser cutting head, is suitable for identifying the start and end points of the pipe.

[0012] The line laser scanning device is connected to the controller via signal.

[0013] In this application, the line laser scanning device can identify the start and end points of pipe cutting, which can replace the manual calibration process, realize the positioning of the pipe, and avoid the starting point positioning error caused by visual deviation or lack of experience.

[0014] In one alternative implementation, the planar movement component includes:

[0015] The slide rail is arranged parallel to the pipe.

[0016] A mobile platform, mounted on a slide rail, is adapted to slide along the extension direction of the slide rail;

[0017] A first drive component is adapted to drive the mobile platform to slide on the slide rail;

[0018] The first drive component is connected to the controller signal.

[0019] In this application, the slide rail supports a large range of horizontal displacement of the mobile platform, meeting the needs of multi-station cyclic operation.

[0020] In one alternative implementation, the planar movement component further includes:

[0021] The column is mounted on the mobile platform at one end;

[0022] A cantilever is installed at the other end of the column;

[0023] A connector is disposed on the side of the cantilever and is adapted to slide along the length direction of the cantilever; the multi-axis robotic arm is disposed on the connector.

[0024] The second drive assembly is adapted to drive the connector to slide on the cantilever.

[0025] In this application, the column can provide stable Z-axis support, the cantilever extends to cover the area above the pipe, and the connector drives the robotic arm to slide along the cantilever, forming a working envelope covering the entire surface of the pipe in conjunction with the first drive assembly and the multi-axis robotic arm.

[0026] In one alternative implementation, the length direction of the cantilever is perpendicular to the extension direction of the slide rail.

[0027] In this application, the vertical layout of the cantilever and the slide rail optimizes the cutting direction. This orthogonal coordinate system allows the motion trajectory of the multi-axis robotic arm in the XY plane to form a natural angle with the pipe axis, perfectly matching the vector requirements of intersection line cutting. When the positioner rotates the pipe, the multi-axis robotic arm can feed radially along the cantilever, always keeping the laser cutting head perpendicular to the normal of the pipe surface. This avoids the cutting angle deviation caused by the limited motion direction of traditional equipment, ensuring the forming quality of the bevel cut surface, and especially meeting the high-precision intersection requirements of multi-directional intersection lines at pipe truss nodes.

[0028] In one alternative implementation, the cantilever is positioned above the pipe.

[0029] In this application, the cantilever is mounted directly above the pipe, so that the laser cutting head is in a "top-mounted" working posture, avoiding the risk of interference between lateral equipment and material transportation; it can also shorten the laser beam path distance, reduce energy loss caused by beam divergence, and improve the penetration capability of thick plates.

[0030] In one alternative embodiment, a support assembly is provided below the pipe to support the pipe.

[0031] In this application, the introduction of support components solves the problem of deformation caused by the self-weight of long pipes. Traditional cantilever clamping easily leads to sagging in the middle of the pipe, causing inaccurate cutting trajectories at the intersection lines.

[0032] In one alternative implementation, the support component includes:

[0033] A support frame is installed below the pipe.

[0034] Support rollers, at least two in number, are located at the upper end of the support frame and are respectively located on both sides of the pipe.

[0035] In one alternative embodiment, the circumferential surface of the support roller abuts against the circumferential surface of the pipe.

[0036] In this application, the dual-roller support structure can achieve dynamic balance of the pipe rotation. The symmetrically arranged rollers on the support frame form a "V-shaped" support surface, and its arc contour is completely in contact with the outer wall of the pipe. When the positioner drives the rotation, it provides a uniform friction force distribution, which can prevent radial movement during high-speed rotation and ensure that the distance of the laser cutting head is constant during curved surface tracking.

[0037] In one alternative embodiment, the circumferential surface of the pipe is spaced apart from the upper end surface of the support frame. This prevents interference between the upper end surface of the support frame and the rotation of the pipe. Attached Figure Description

[0038] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0040] Figure 2 This is a schematic diagram of the support component structure in an embodiment of the present utility model;

[0041] Figure 3 This is a schematic diagram showing the location of the first driving component in an embodiment of this utility model.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Multi-axis robotic arm; 2. Laser cutting head; 3. Positioner; 4. Slide rail; 5. Moving platform; 6. First drive assembly; 7. Column; 8. Cantilever; 9. Connector; 10. Second drive assembly; 11. Support frame; 12. Support rollers; 13. Ground rail; 14. Pipe. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0045] With the continuous development of the steel structure manufacturing industry, the laser cutting equipment industry is also expanding rapidly. Due to its advantages such as high precision, high efficiency, and low cost, more and more companies are adopting laser cutting technology in production. Robotic 3D laser cutting solutions are rapidly emerging due to their low cost and flexibility, replacing traditional laser cutting equipment. In the future, with continuous technological advancements and increasing market demand, the 3D laser cutting robot and related equipment industry is expected to continue its rapid growth.

[0046] In existing technical solutions, traditional plasma intersecting line cutting machines are used, equipped with plasma cutting guns. During operation, frequent manual adjustments to the gun angle and cutting track are required, making it highly dependent on worker skills and resulting in low cutting efficiency. Typically, 1-2 operators are needed to program and monitor the equipment, and one hoist operator is required to assist with the overhead crane in transporting large pipes. After cutting, a quality inspector is needed to check the cut for smoothness, burrs, or deformation. Furthermore, plasma cutting quality is easily affected by parameter matching; excessive current will burn a notch, while insufficient current may not cut through. Insecure pipe fixing or equipment aging can also lead to skewed cuts. In addition, when cutting large pipes, the overhead crane needs to frequently lift and position them, occupying workshop space and affecting the efficiency of other processes, especially when space is limited. Coordinating lifting time and equipment operation rhythm is crucial.

[0047] The drawbacks of the aforementioned traditional technical solutions are:

[0048] 1. The cutting line is too wide, and the flatness of the cut surface is poor.

[0049] Plasma cutting machines work by using plasma for cutting. The kerf is generally wide and the cut surface is arc-shaped. For some cutting needs that require high precision, plasma cutting machines have obvious shortcomings.

[0050] 2. Unstable quality of continuous cutting

[0051] The cutting quality of plasma cutting machines is limited by the stability of the gas. Because plasma is prone to turbulence and instability during the cutting process, it is difficult to guarantee the cutting quality and arc interruption may occur.

[0052] The following is combined with Figures 1 to 3 The following describes embodiments of the present invention.

[0053] According to an embodiment of the present invention, a three-dimensional laser pipe cutting robot is provided, comprising:

[0054] A planar motion component is connected to a multi-axis robotic arm 1, which is equipped with a laser cutting head 2. The multi-axis robotic arm 1 is adapted to adjust the distance and angle between the laser cutting head 2 and the surface of the pipe 14. The planar motion component can drive the multi-axis robotic arm 1 to move in the XY plane, and the multi-axis robotic arm 1 can adjust the distance and angle between the laser cutting head 2 and the surface of the pipe 14 in the Z direction. The multi-axis robotic arm 1 can be a six-axis industrial robot with a load capacity of 10kg, an arm span of 2000mm, and a repeatability of ≤0.05mm. The laser cutting head 2 can be installed at the end of the six-axis industrial robot. The laser power of the laser cutting head 2 can be 20000W, with a duty cycle of 100%, and can cut plates with a thickness of 6 to 40mm. The cutting speed can reach 20m / min, which can meet the needs of long-term precision cutting in the workshop.

[0055] The positioner 3 is located on one side of the planar moving component, and the pipe 14 is mounted on the positioner 3, which is suitable for driving the pipe 14 to rotate. The positioner 3 can be a 360-degree rotating positioner 3, which can clamp and rotate the pipe 14, and cut the intersection line of the pipe 14 in real time according to the angle of the rotating component according to the cutting path.

[0056] The controller is connected to the planar moving component, the multi-axis robotic arm 1, the laser cutting head 2, and the positioner 3 via signals. It has a built-in three-dimensional model of the pipe 14 and a cutting path based on the three-dimensional model. The controller is suitable for controlling the planar moving component, the multi-axis robotic arm 1, the laser cutting head 2, and the positioner 3 to work together to achieve cutting work based on the reference cutting path.

[0057] In this application, a fully integrated planar motion component, a multi-axis robotic arm 1, a positioner 3, and a controller are used to achieve collaborative control throughout the entire process. The controller directly calls the 3D model to generate the cutting path and embeds the cutting path within the controller to guide the specific cutting, eliminating the traditional 2D drawing conversion step and significantly shortening programming time. The multi-axis robotic arm 1 dynamically adjusts the distance and angle between the laser cutting head 2 and the surface of the pipe 14, ensuring that the cutting focus is always in the optimal position, improving the flatness of the cut, and preventing the distance and angle between the laser cutting head 2 and the surface of the pipe 14 from being too small or too large. The positioner 3 can rotate the pipe 14 in real time to coordinate with the movement of the robotic arm, ensuring a continuous and uninterrupted trajectory during intersecting line cutting, avoiding the misalignment problems caused by manual adjustments in traditional processes. This application reduces reliance on operator skills and improves cutting efficiency.

[0058] In one alternative implementation, it further includes:

[0059] A line laser scanning device, integrated on the laser cutting head 2, is suitable for identifying the start and end points of the pipe 14. The line laser scanning device can be a line laser scanner with a scanning and recognition accuracy of ≤0.1mm. It can accurately identify the cutting start point of the pipe 14 without requiring manual calibration of the component's start point, thus automating the cutting process.

[0060] The line laser scanning device is connected to the controller via signal.

[0061] In this application, the line laser scanning device can identify the start and end points of the pipe 14 cutting, which can replace the manual calibration process and realize the positioning of the pipe 14, avoiding the error in the starting point positioning caused by visual deviation or lack of experience.

[0062] In one alternative implementation, the planar movement component includes:

[0063] The slide rail 4 is arranged parallel to the pipe 14;

[0064] The mobile platform 5 is mounted on the slide rail 4 and is adapted to slide along the extension direction of the slide rail 4;

[0065] The first drive component 6 is adapted to drive the mobile platform 5 to slide on the slide rail 4;

[0066] The first drive component 6 is connected to the controller signal.

[0067] Specifically, the planar moving component can be equipped with a 12-meter-long ground rail 13 in the X direction. The positioner 3 is located on one side of the ground rail 13, and the pipe 14 is arranged parallel to the ground rail 13. The controller and the related operating platform can be placed on the other side of the ground rail 13 near the factory building column 7. Cables, optical fibers, and water and gas pipelines are all connected to the main unit by cable chains. The slide rail 4 is arranged on the ground rail 13 along its extension direction, and the moving platform 5 can be equipped with a slider that is slidably arranged on the slide rail 4. The first drive component 6 can include a rack arranged along the extension direction of the ground rail 13, a drive motor arranged on the moving platform 5, and a gear arranged at the output end of the drive motor. The rack is fixed on the ground rail 13, the gear meshes with the rack, and the drive motor drives the gear to rotate, so that the moving platform 5 can move on the ground rail 13.

[0068] In this application, the slide rail 4 supports a wide range of horizontal displacement of the mobile platform 5, meeting the needs of multi-station cyclic operation.

[0069] In one alternative implementation, the planar movement component further includes:

[0070] The column 7 is set on the mobile platform 5 at one end; the column 7 can be set in the Z direction, and the height can be 2.2 meters, and it is installed on the mobile platform 5 of the X-direction ground rail 13.

[0071] A cantilever 8 is set at the other end of the column 7; the cantilever 8 can be a 3-meter-long cantilever 8 set in the Y direction, which is connected to the column 7 in the Z direction to form a cantilever structure.

[0072] Connector 9 is disposed on the side of the cantilever 8 and is adapted to slide along the length direction of the cantilever 8. The multi-axis robotic arm 1 is disposed on connector 9.

[0073] The second drive assembly 10 is adapted to drive the connector 9 to slide on the cantilever 8.

[0074] The cantilever 8 may also be provided with a slide rail along the extension direction of the cantilever 8 on its side, and a slider slidably mounted on the slide rail is provided on the connecting member 9. The second drive assembly 10 may include a rack provided on the side of the cantilever 8, a drive motor provided on the connecting member 9, and a gear provided on the output shaft of the drive motor. The rack extends along the length of the cantilever 8, and the gear meshes with the rack. The drive motor drives the gear to rotate, which allows the connecting member 9 to move along the rack.

[0075] In this application, the column 7 provides stable Z-axis support, the cantilever 8 extends to cover the area above the pipe 14, and the connector 9 drives the robotic arm to slide along the cantilever 8, which, together with the first drive assembly 6 and the multi-axis robotic arm 1, forms a working envelope covering the entire surface of the pipe 14.

[0076] In one alternative embodiment, the length direction of the cantilever 8 is perpendicular to the extension direction of the slide rail 4.

[0077] In this application, the vertical arrangement of the cantilever 8 and the slide rail 4 optimizes the cutting direction. This orthogonal coordinate system allows the motion trajectory of the multi-axis robotic arm 1 in the XY plane to form a natural angle with the axis of the pipe 14, perfectly matching the vector requirements of the intersection line cutting. When the positioner 3 rotates the pipe 14, the multi-axis robotic arm 1 can feed radially along the cantilever 8, always keeping the laser cutting head 2 perpendicular to the normal of the curved surface of the pipe 14. This avoids the cutting angle deviation caused by the limitation of the motion direction of traditional equipment, ensuring the forming quality of the bevel cutting surface, and especially meeting the high-precision intersection requirements of multi-directional intersection lines at the pipe truss node.

[0078] In one alternative embodiment, the cantilever 8 is located above the tube 14.

[0079] In this application, the cantilever 8 is mounted directly above the pipe 14, so that the laser cutting head 2 is in a "top-mounted" working posture, avoiding the risk of interference between lateral equipment and material transportation; it can also shorten the laser beam path distance, reduce energy loss caused by beam divergence, and improve the penetration capability of thick plates.

[0080] In one alternative embodiment, a support assembly is provided below the pipe 14 to support the pipe 14.

[0081] In this application, the introduction of support components solves the problem of deformation due to the self-weight of the long tube 14. Traditional cantilever clamping easily causes the middle of the tube 14 to sag, resulting in inaccurate cutting trajectory of the intersection line.

[0082] In one alternative implementation, the support component includes:

[0083] Support frame 11 is disposed below the pipe 14;

[0084] At least two support rollers 12 are provided at the upper end of the support frame 11 and are respectively provided on both sides of the pipe 14. The support frame 11 and the support rollers 12 enable the pipe 14 to be arranged parallel to the ground rail 13.

[0085] In one alternative embodiment, the circumferential surface of the support roller 12 abuts against the circumferential surface of the tube 14.

[0086] In this application, the dual roller support structure can achieve dynamic balance of the rotation of the tube 14. The rollers symmetrically arranged on the support frame 11 form a "V" support surface, and its arc contour is completely in contact with the outer wall of the tube 14. When the positioner 3 drives the rotation, it provides a uniform friction force distribution, which can prevent radial movement during high-speed rotation and ensure that the distance of the laser cutting head 2 is constant during curved surface tracking.

[0087] In one alternative embodiment, the circumferential surface of the tube 14 is spaced from the upper end surface of the support frame 11. This prevents interference between the upper end surface of the support frame 11 and the rotation of the tube 14.

[0088] This application has the following technical advantages:

[0089] The controller can have a built-in cutting process library, which can automatically retrieve the appropriate cutting process parameters according to the diameter and wall thickness of the pipe 14, so that the cutting of the pipe 14 can achieve the best cutting quality.

[0090] By directly importing the 3D model of the entire project equipment, the component number currently being processed can be entered on the controller or control software. The 3D model of the pipe 14 currently being processed can be selected from the entire project equipment model. The intersection line on the model is automatically identified, the cutting trajectory is planned, and the program is sent to the planar moving component and the multi-axis robotic arm 1. It is also linked with the positioner 3 to complete the precise cutting of the intersection line. The entire process does not require converting the 3D model into a 2D drawing before outputting the drawing to the cutting machine. The equipment is driven directly by the 3D model.

[0091] Laser cutting technology features standard modular functions such as one-click cutting and automatic calibration;

[0092] Features such as non-intrusive perforation of thin and medium plates, lightning perforation of thick plates, multi-stage perforation, perforation slag removal, follow-up vibration suppression, air pressure closed loop, and multi-layer fine process significantly improve the efficiency and stability of high-power cutting and enhance the core competitiveness of the equipment.

[0093] The line laser scanner features high-speed, high-precision automatic edge finding, meeting the high-precision edge finding requirements for the intersection lines of 14 parts of pipes. At the same time, it can correct the cutting trajectory in real time during the cutting process.

[0094] A capacitive distance sensor and a torque deviation sensor can be integrated into the laser cutting head 2. The torque deviation sensor can play a role in anti-collision protection, and the capacitive distance sensor can cope with the dimensional deviation of the raw material tube 14.

[0095] The workflow for this application is as follows:

[0096] The operator hoists the pipe 14 to be cut onto the cutting platform, and the chuck on the positioner 3 is centered and clamped.

[0097] Import the 3D model of the workpiece into the controller or control software, and automatically plan the cutting trajectory and output the cutting program;

[0098] The planar moving component and the multi-axis robotic arm 1 automatically find the cutting starting point according to the cutting trajectory, automatically call the matching cutting parameters, and send control commands to the positioner 3 system;

[0099] Run the cutting program to cut, and automatically adjust the cutting height according to the distance between the cutting torch and the cutting surface during the process to always maintain the same cutting distance;

[0100] After completing the cutting, hole making, and coding, the workpiece returns to the starting position and is then unloaded.

[0101] Repeat the above steps to complete the workpiece loading, unloading, and cutting cycle.

[0102] This application improves the quality of intersecting line cutting for pipe parts 14. By combining high-power laser cutting with an automatic rotary positioner system 3, the quality of the cut surface can be effectively improved, ensuring that the curvature of the intersecting line deviates from the design dimensions within the allowable range of design requirements. This guarantees the assembly accuracy at the joint during the final assembly process, reducing workshop rework rates and corresponding costs; it also improves the production efficiency of pipe 14 intersecting line cutting. Traditional plasma pipe 14 cutting machines suffer from low cutting efficiency, high consumable costs, poor cut surface quality, and the need for manual adjustment of cutting parameters, resulting in low overall cutting efficiency and limitations on cutting thickness and pipe 14 dimensions. High-power laser cutting machines can achieve cutting thicknesses up to twice that of plasma cutting machines, and the pipe 14 cutting dimensions can be adjusted to match the size of the rotary positioner 3, significantly improving the efficiency of pipe 14 cutting.

[0103] It should be noted that, according to actual needs, the application can cut intersecting lines on the pipe 14 for subsequent connection with other components.

[0104] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A three-dimensional laser pipe cutting robot, characterized in that, include: A planar moving assembly is connected to a multi-axis robotic arm (1), the multi-axis robotic arm (1) being equipped with a laser cutting head (2), the multi-axis robotic arm (1) being adapted to adjust the distance and angle between the laser cutting head (2) and the surface of the tube (14); The positioner (3) is located on one side of the planar moving assembly, and the pipe (14) is mounted on the positioner (3) and is adapted to drive the pipe (14) to rotate; The controller is connected to the planar moving component, the multi-axis robotic arm (1), the laser cutting head (2) and the positioner (3) by signal connection. It has a built-in three-dimensional model of the pipe (14) and a cutting path based on the three-dimensional model. The controller is suitable for controlling the planar moving component, the multi-axis robotic arm (1), the laser cutting head (2) and the positioner (3) to work together to achieve the cutting work based on the reference cutting path.

2. The three-dimensional laser pipe cutting robot according to claim 1, characterized in that, Also includes: A line laser scanning device, integrated on the laser cutting head (2), is suitable for identifying the start and end points of the pipe (14); The line laser scanning device is connected to the controller via signal.

3. The three-dimensional laser pipe cutting robot according to claim 1, characterized in that, The planar motion component includes: The slide rail (4) is arranged parallel to the pipe (14); The mobile platform (5) is mounted on the slide rail (4) and is adapted to slide along the extension direction of the slide rail (4); A first drive component (6) is adapted to drive the mobile platform (5) to slide on the slide rail (4); The first drive component (6) is connected to the controller signal.

4. The three-dimensional laser pipe cutting robot according to claim 3, characterized in that, The planar motion component further includes: A column (7) is mounted on the mobile platform (5) at one end; A cantilever (8) is set at the other end of the column (7); A connector (9) is provided on the side of the cantilever (8) and is adapted to slide along the length direction of the cantilever (8). The multi-axis robotic arm (1) is provided on the connector (9). A second drive assembly (10) is adapted to drive the connector (9) to slide on the cantilever (8).

5. The three-dimensional laser pipe cutting robot according to claim 4, characterized in that, The length direction of the cantilever (8) is perpendicular to the extension direction of the slide rail (4).

6. The three-dimensional laser pipe cutting robot according to claim 4, characterized in that, The cantilever (8) is located above the pipe (14).

7. The three-dimensional laser pipe cutting robot according to claim 1, characterized in that, A support assembly is provided below the pipe (14) to support the pipe (14).

8. The three-dimensional laser pipe cutting robot according to claim 7, characterized in that, The support components include: A support frame (11) is disposed below the pipe (14); Support rollers (12), at least two in number, are provided at the upper end of the support frame (11) and respectively on both sides of the tube (14).

9. The three-dimensional laser pipe cutting robot according to claim 8, characterized in that, The circumferential surface of the support roller (12) abuts against the circumferential surface of the pipe (14).

10. The three-dimensional laser pipe cutting robot according to claim 8, characterized in that, The circumferential surface of the tube (14) is spaced from the upper end surface of the support frame (11).

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