CN100491057C - Thin-plate laser cutting-welding machine workpiece clamping device - Google Patents

Thin-plate laser cutting-welding machine workpiece clamping device Download PDF

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Publication number
CN100491057C
CN100491057C CN 200410015618 CN200410015618A CN100491057C CN 100491057 C CN100491057 C CN 100491057C CN 200410015618 CN200410015618 CN 200410015618 CN 200410015618 A CN200410015618 A CN 200410015618A CN 100491057 C CN100491057 C CN 100491057C
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CN
China
Prior art keywords
workpiece
clamping
electromagnet
microcomputer
vacuum cup
Prior art date
Application number
CN 200410015618
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Chinese (zh)
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CN1640612A (en
Inventor
施海锋
吴江柳
Original Assignee
上海工程技术大学
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Publication date
Application filed by 上海工程技术大学 filed Critical 上海工程技术大学
Priority to CN 200410015618 priority Critical patent/CN100491057C/en
Publication of CN1640612A publication Critical patent/CN1640612A/en
Application granted granted Critical
Publication of CN100491057C publication Critical patent/CN100491057C/en

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Abstract

The present invention relates to a workpiece holding device for laser sheet cutting-welding machine. It comprises several electromagnets and several pneumatic holding mechanisms. Firstly, the electromagnets can be used for primarily holding said workpiece, then the pneumatic holding mechanisms can be used for further holding said workpiece and making the electromagnets stop work.

Description

Sheet laser cutting bonding machine Workpiece clamping device and method thereof
Technical field
The present invention relates to a kind of sheet laser cutting bonding machine, relate in particular to the Workpiece clamping device and the method for operating thereof of sheet laser cutting bonding machine.
Background technology
The location of workpiece is to observe workpiece by operating personnel with eyes whether to aim at the location on the existing sheet laser cutting bonding machine workbench, and manual travelling workpiece compresses workpiece with pressing plate and bolt then by hand with correction position.Because clamping mode is undesirable, the clamping force size is unstable, and effect is influenced by human factor; Clamping place is elongated contact-making surface, and clamping place is rigidity contact, and these reasons cause the part of workpiece not flatten, and influence weldquality, cause the welding quality instability.And this locate mode is inaccurate, precision is uncontrollable, the main experience that relies on operating personnel, each location is all different, thereby the waste material under each cutting is also different, workpiece shape after the cutting is also different, because the location is inconsistent during each the cutting, Origin And Destination when causing each the cutting is all inconsistent, and each cutting all will be adjusted the cutting path of laser cutter, aims at the position of laser cutting (welding) head again, pretty troublesome, the time of auxiliary adjustment work is long, inefficiency, the incompatible production in enormous quantities in enormous quantities.
United States Patent (USP) has disclosed a kind of workpiece fixed clamping device that is used for the employing electromagnet of laser-beam welding machine for No. 5023427, but these apparatus structure complexity, and the magnetic force that electromagnet produces in the work piece cut welding process can influence the operate as normal of other electronic installation most.
Summary of the invention
The object of the present invention is to provide the Workpiece clamping device of a kind of sheet laser cutting bonding machine, realize microcomputer control, and workpiece can buckling deformation after clamping down to the automatic clamping and positioning of workpiece.
The objective of the invention is to realize: the Workpiece clamping device that is used for laser thin plate cutting bonding machine by following technical method, comprise a plurality of electromagnet and a plurality of pneumatic pinch mechanism, at first workpiece is carried out just clamping by electromagnet, by pneumatic pinch mechanism workpiece is clamped afterwards, and electromagnet is quit work.
Another object of the present invention has provided the method for work of the Workpiece clamping device of sheet laser cutting bonding machine, and described method of work sees also the description in the specific embodiment.
Sheet laser cutting bonding machine disclosed in this invention, its advantage shows: the workpiece reliable clamping that is cut and welds, fast, improved production efficiency greatly, improve cutting and welding quality, and can not influence the operate as normal of other electronic installation.
Description of drawings
Fig. 1 is the side view of sheet laser cutting bonding machine of the present invention;
Fig. 2 is the schematic top plan view of sheet laser cutting bonding machine of the present invention;
Fig. 3 is the side view of sheet laser cutting bonding machine other direction of the present invention;
Fig. 4 shows the fragmentary cross-sectional view of alignment pin for sheet laser cutting bonding machine of the present invention;
Fig. 5 is the composition schematic diagram of sheet laser cutting bonding machine workpiece location and clamping device;
Fig. 6 detects the schematic diagram in workpiece sideline for the CCD camera;
Image array A and C that Fig. 7 obtains for the CCD camera;
Fig. 8 is the schematic diagram of pneumatic pinch mechanism;
Fig. 9 is the generalized section of the vacuum cup of second embodiment of the invention;
Figure 10 is for adopting the workpiece location behind the vacuum cup as shown in Figure 9 and the composition schematic diagram of clamping device.
The specific embodiment
Below in conjunction with embodiment the present invention is further described.
See also Fig. 1 to Fig. 3, sheet laser cutting bonding machine of the present invention comprises laser welding system (not shown), base 4, is installed in upper table 2 and lower table 5 on the base 4, and these two workbench 2,5 are in being respectively applied for splint fixation workpiece 3,6.Precision ball screw (not shown) is installed on the base 4, accurate line slideway 8,9 links to each other with above-mentioned leading screw, lower table 5 is installed on the accurate length guide rail 9, and accurate straight line short lead rail 8 is installed on the lower table 5, and upper table 2 is installed on the accurate straight line short lead rail 8.Drive the precision ball screw motion by Digit Control Machine Tool control servomotor, and then workbench 2,5 can be slided along guide rail 9,8.
Lower table 5 comprises two parts, wherein first can extend into upper table 2 below, another part is concordant with upper table 2, a horizontal row is arranged in the first of lower table 5 to the alignment pin 1 of parallel arranged.See also Fig. 4, alignment pin 1 comprises cylinder 12, is fixed in the linear bearing 13 of cylinder top, be installed on the cylinder 14 in the linear bearing 13 and be installed on the bearing 15 of cylinder 14 tops, and bearing 15 can roll around cylinder 14.By the piston motion of cylinder 12, can make cylinder 14 drive bearing 15 and move in vertical direction.The cutting edge of workpiece 3 is resisted against on the bearing 15 of alignment pin 1 so that these workpiece 3 location; When needs when welding cutting, alignment pin 1 is retracted into downwards in the workbench 5, travelling table 2, make alignment pin 1 and workpiece 3 produce horizontal directions relative displacement so that alignment pin 1 away from the cutting welding edge of workpiece 3.
Please continue and consult Fig. 8, workbench 2,5 is provided with a plurality of electromagnet 7, can produce attraction with fixation workpiece 3,6 to workpiece after electromagnet 7 energisings.Also be provided with a plurality of pneumatic pinch mechanism 11 on the workbench 2,5, it is clamped that electromagnet 7 energisings are carried out workpiece, when the cutting welding, with cancelling electromagnet 7 behind pneumatic pinch mechanism 11 clamping work pieces, do not influence other electronic installation to guarantee electromagnet 7.
Pneumatic pinch mechanism 11 comprises vacuum cup 119, electromagnetic locking mechanism 110, and magnetic valve 111 and vacuum valve 112 are connected, and magnetic valve 111 is opened, sucker work, workpiece is held; When vacuum reaches setting, 110 actions of electromagnetic locking mechanism, the upright position of locking vacuum cup 119.Thereby vacuum cup 119 can be finely tuned on vertical.Two cross sides of base 3 relative workbench 2,5 are provided with alignment pin 10, with fixation workpiece 3,6 in a lateral direction.The effect of pneumatic pinch will detect intratracheal pressure with pressure cell (not shown) be determined, have only this pressure to be lower than setting value after, electromagnet 7 clamping devices are dead electricity.Pneumatic pinch mechanism 11 has a plurality of, and whether each pneumatic pinch mechanism works, and all can be provided with arbitrarily, and each is independent controlled by microcomputer; All there is an electromagnet retaining mechanism 110 in each pneumatic pinch mechanism, locking pneumatic pinch mechanism.The locking of retaining mechanism 10 is still floated, and is controlled by the I/O interface by microcomputer.
The principle of workpiece location photoelectric observing and controlling device is that the contour images during with workpiece 3 location is taken in camera, and the corresponding view data of formation, by analyzing and processing to this view data, calculate the position error of workpiece, make corresponding indication then and drive the motion of corresponding servomotor, meet the demands up to the workpiece positioning accuracy.The position error of workpiece 3 is definite by taking in edge of work line position data and exemplar in the image (as the clamping workpiece of benchmark time position) locator data contrast back, as not meeting the demands, then according to the direction of error and size determine servomotor turn to angular displacement how much.See also Fig. 5 and Fig. 6, the electrical system of photoelectric detecting and positioning system is by CCD camera, image card, pneumatic operated valve electromagnet, locking electromagnet, servomotor and controller, pressure cell, I/O interface card, A/D interface card, composition such as vavuum pump and microcomputer, camera comprise CCD dot matrix 101 and lens 102 compositions.
The edge contour of workpiece profile is taken in to CCD dot matrix 101 image forming surface signals by the optical system of camera, and imports microcomputer into by image card; Every bit light-sensitive element on the CCD dot matrix 101 is subjected to the power of light to divide 256 grades.Two cameras are placed on the two ends that need the tested edge line of location workpiece.
The workpiece image processing procedure is:
(1) CCD dot matrix 101 has N * M light-sensitive element, and each light-sensitive element can record the luminous intensity of some pixels, then can record the image of N * M pixel altogether, and each pixel has 256 tonal gradations.By this data generator matrix A and B, each data is exactly the tonal gradation number of correspondence image pixel light intensity in the matrix.As matrix A among Fig. 7, element a I, j(i=0,1 ... N; J=0,1 ... M; a I, j∈ [0,1 ... 255]), represent that I is capable, the light intensity data of j row pixel.
(2) remove the influence of DC level in the data with digital method; With the matrix element binary conversion treatment, form the Matrix C and the D of two-value again.As Matrix C among Fig. 7, element c I, j(i=0,1 ... N; J=0,1 ... M; c I, j∈ [0,1]), 1 expression has the point of workpiece, and 0 expression is not to there being the point of steel plate.
(3) (that is, among Matrix C and the D) finds out steel plate image corresponding points in view data, obtains the position of edge of work line.
(4) data and the normal data (through accurately measuring, being stored in the data of disk) that record are compared the position error of calculating on two vertical direction.
The workpiece Positioning Process is:
(1) after standard workpiece is placed into the precalculated position, two cameras are placed on the two ends of the tested edge line of standard workpiece, the profile of standard workpiece is taken in by two CCD cameras and is formed picture signal, and imports microcomputer into by image card, the picture signal of generation standard workpiece;
(2) need the profile of location workpiece 3 to form picture signal, and import microcomputer into by image card by two CCD cameras absorptions;
(3) microcomputer compares the picture signal of workpiece image signal and standard workpiece, calculates position error;
(4) microcomputer is by the direction and the size of position error, determines the direction that the driven by servomotor workpiece moves and the size of displacement;
(5) repeat (1), (2) and (3) step, reach the requirement of positioning accuracy until position error;
(6) microcomputer by the I/O interface make clamp electromagnet 7 electric, workpiece is tentatively clamped;
(7) microcomputer makes by the I/O interface needs 11 actions of the pneumatic pinch of pneumatic clamps mechanism, and workpiece is clamped;
(8) whether microcomputer is finished to determine clamping process by the pressure in the A/D interface detection vacuum cup 119.
(9) after the pneumatic pinch process was finished, microcomputer made retaining mechanism 110 actions by the I/O interface, locking pneumatic pinch mechanism 11;
(10) microcomputer makes by the I/O interface and clamps electromagnet 7 dead electricity, finishes the location and clamps all processes.
The advantage of sheet laser cutting bonding machine Workpiece clamping device of the present invention is: the piece-holder that is cut and welds is reliable and stable, fast, realize automation, improved production efficiency greatly, improve cutting and welding quality, and can not influence the operate as normal of other electronic installation.
Second embodiment of the invention sees also Fig. 9 and Figure 10, and the vacuum cup of present embodiment employing high precision replaces the vacuum cup 119 in first embodiment.This vacuum cup comprises sucker 112, and hollow rod 113, fixed cover 114 are fixed on the work stage 2 hollow rod 113, are provided with spring 115 in the fixed cover 114, to be resisted against hollow rod 113 belows and fixing vacuum cup.Spring washer 117 and nut 118 are used for fixing hollow rod 113 and fixed cover 114.After adopting above-mentioned vacuum cup, in position fixing process, just can save the step (9) of pneumatic pinch mechanism being locked with the electromagnetic locking structure among first embodiment.

Claims (4)

1. one kind is used for the Workpiece clamping device that the laser thin plate cuts bonding machine, it is characterized in that comprising a plurality of electromagnet and a plurality of pneumatic pinch mechanism, during clamping work pieces, at first workpiece is carried out just clamping by electromagnet, by pneumatic pinch mechanism workpiece is clamped afterwards, and electromagnet is quit work, described pneumatic pinch mechanism comprises vacuum cup, electromagnetic locking mechanism, magnetic valve and vacuum valve, described vacuum cup is connected with electromagnetic locking mechanism, described electromagnetic locking mechanism is connected with magnetic valve, and described magnetic valve is connected with vacuum valve, when magnetic valve is opened, vacuum cup work, workpiece is held; Electromagnetic locking mechanism can lock the upright position of sucker.
2. Workpiece clamping device as claimed in claim 1 is characterized in that: pneumatic pinch mechanism also comprises pressure cell, detects the pressure in the vacuum cup, and after this pressure was lower than setting value, microcomputer control quit work electromagnet clamping device dead electricity.
3. a workpiece clamp clamping method that is used for laser thin plate cutting bonding machine comprises the steps:
(1) microcomputer makes by the I/O interface and clamps electromagnet and get electricly, and workpiece is tentatively clamped;
(2) microcomputer makes the pneumatic clamps mechanism action tightly that needs pneumatic clamps by the I/O interface, and workpiece is clamped;
(3) microcomputer detects pressure in the vacuum cup by the A/D interface, when pressure during less than predetermined value, determines that clamping process finishes;
(4) microcomputer makes the retaining mechanism action by the I/O interface, locking pneumatic pinch mechanism;
(5) microcomputer makes by the I/O interface and clamps the electromagnet dead electricity, finishes the location and clamps all processes.
4. workpiece clamp clamping method as claimed in claim 3 is characterized in that adopting pressure cell to detect the interior pressure of vacuum cup.
CN 200410015618 2004-01-02 2004-01-02 Thin-plate laser cutting-welding machine workpiece clamping device CN100491057C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200410015618 CN100491057C (en) 2004-01-02 2004-01-02 Thin-plate laser cutting-welding machine workpiece clamping device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200410015618 CN100491057C (en) 2004-01-02 2004-01-02 Thin-plate laser cutting-welding machine workpiece clamping device

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Publication Number Publication Date
CN1640612A CN1640612A (en) 2005-07-20
CN100491057C true CN100491057C (en) 2009-05-27

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105414844A (en) * 2015-12-09 2016-03-23 安徽合力股份有限公司 Magnet positioning mold for three-dimensional laser cutting

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CN100443238C (en) * 2006-09-07 2008-12-17 大连宝通工业控制有限公司 Floating type laser incision system
CN100443249C (en) * 2006-09-07 2008-12-17 大连宝通工业控制有限公司 Roller type cold rolled sheet dislocation and location machanism
JP2012509193A (en) * 2008-11-19 2012-04-19 レール・リキード−ソシエテ・アノニム・プール・レテュード・エ・レクスプロワタシオン・デ・プロセデ・ジョルジュ・クロード Process for laser cutting metal plates
CN101890576B (en) * 2010-08-19 2012-11-21 上海市激光技术研究所 Stainless steel or nickel sheet laser tailor-welding alignment clamping device and method
CN102451967A (en) * 2010-10-27 2012-05-16 西华大学 Intelligent electric welding clamp workbench for body in white
CN102152001A (en) * 2011-04-27 2011-08-17 苏州天弘激光股份有限公司 Precise laser cutting machine
CN102935572B (en) * 2012-12-04 2014-11-05 贵州天义电器有限责任公司 Welding and positioning clamp for electromagnetic driving component
CN104175005B (en) * 2013-05-28 2017-10-03 日本车辆制造株式会社 Thin plate holding meanss
CN104440310B (en) * 2014-12-02 2017-11-21 竹昌精密冲压件(上海)有限公司 A kind of Digit Control Machine Tool inhales vacuum plant automatically
CN104816174A (en) * 2015-04-15 2015-08-05 济南大学 Flexible fixture capable of precisely controlling angle in plane
CN104772571B (en) * 2015-04-29 2016-09-14 大族激光科技产业集团股份有限公司 Plate with laser cutting equipment and cut tool thereof
CN109570756A (en) * 2018-12-26 2019-04-05 江苏省宜兴电子器件总厂有限公司 A kind of thin type solder sheet and metalwork pre-fix method
CN111258268B (en) * 2020-02-20 2020-11-24 广州德力数控设备有限公司 Aluminum profile machining center

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105414844A (en) * 2015-12-09 2016-03-23 安徽合力股份有限公司 Magnet positioning mold for three-dimensional laser cutting

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EE01 Entry into force of recordation of patent licensing contract

Assignee: Guangzhou Xinbang Automobile Equipment Manufacturing Co., Ltd.

Assignor: Shanghai University of Engineering Science

Contract record no.: 2010440001157

Denomination of invention: Thin-plate laser cutting-welding machine workpiece clamping device

Granted publication date: 20090527

License type: Exclusive License

Open date: 20050720

Record date: 20100816

C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20090527

Termination date: 20130102