CN101690993A - Multi-axis linkage numerical control laser processing system - Google Patents
Multi-axis linkage numerical control laser processing system Download PDFInfo
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- CN101690993A CN101690993A CN 200910272361 CN200910272361A CN101690993A CN 101690993 A CN101690993 A CN 101690993A CN 200910272361 CN200910272361 CN 200910272361 CN 200910272361 A CN200910272361 A CN 200910272361A CN 101690993 A CN101690993 A CN 101690993A
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Abstract
The invention provides a multi-axis linkage numerical control laser processing system, which is structurally characterized in that a workbench is provided with a linear guide rail, two ends of the guide rail are provided with a workbench tail seat and a headstock respectively, and two open center brackets are movably arranged on the guide rail and are positioned between the workbench tail seat and the headstock; a guide rail stand is arranged beside the workbench, the guide rail stand is provided with another parallel guide rail, and a movable sliding stand is movably arranged on the guide rail; a robot is fixed on the movable sliding stand, and a laser processing head is arranged at the tail end of a last joint of the robot; and a controller is connected with the robot and the movable sliding stand through control wires respectively so as to control the robot and control the movable sliding stand to drive the robot to move on the guide rail stand. The system solves the problem that a joint robot laser processing system has a small processing range, and can meet the numerical control laser processing requirements of parts of large size and super-large size.
Description
Technical field
The present invention relates to the numerical control laser processing system of field of laser processing, be used for the workpiece of different model is carried out Laser Processing, comprise welding, cutting and surface heat processing etc., particularly can satisfy the Laser Processing of large-scale workpiece.
Background technology
In recent years, the high power laser light process technology because of its working (machining) efficiency height, do not have series of advantages such as machinery contacts, easily is automated, just obtaining more and more widely application at industrial circle.Particularly " cutter " of laser-processing system is laser, and the way of output of its processing characteristics and laser beam, energy size and the optical system that is adopted, the type of focusing etc. are closely related.When changing parameters such as output power of laser, output pulse frequency or dutycycle when us, perhaps change laser Machining head structure (as cutting head, the welding first-class), corresponding laser processing technology also can change, as changing into laser weld or laser surface intensified processing etc. from laser cutting, and corresponding frame for movement, control system etc. almost need not to change.Like this, we just can utilize the method that changes laser processing parameter (comprising technological parameter and processing head) to make certain unifunctional laser process equipment become multi-functional laser-processing system, realize intelligent, flexibility processing.
Present robot laser processing system often has two kinds of forms: a kind of laser process equipment (hereinafter to be referred as the CNC laser processing machine bed) that is based on conventional Digit Control Machine Tool, its versatility is good, can not only satisfy the requirement of the solid state laser Laser Processing of Optical Fiber Transmission, and satisfy the CO that relies on optical mirror slip reflection, transmission transmission
2The Laser Processing requirement of laser instrument; Another kind is based on multi-axis industrial robot's laser-processing system, and its flexibility degree height adapts with the output of the optical fiber of solid state laser, can satisfy the Laser Processing requirement of various complex three-dimensional forms.CO
2Therefore laser instrument seldom uses robot as system of processing because of using the Optical Fiber Transmission laser beam.
The CNC laser processing machine bed can be two to five frees degree according to the performance requirement of institute's processing object.Usually adopt the machining tool of five frees degree, be called the five-axle linkage laser-processing system, it comprises three translation shaft and two gyroaxises, complex parts that can machining large-sized scope.But the technical difficulty that himself is but arranged in reality processing:
1. programming is complicated, and difficulty is big.Because five processing except three straight line translations, also have two axles that rotatablely move to participate in, the space tracking of the motion that it is synthetic is quite complicated and abstract.In order to process required space free curved surface, often need repeatedly coordinate transform and complicated spatial aggregation computing, also to consider the harmony of each motion simultaneously, to avoid interfering, colliding, the programming difficulty is quite big.
2. require high to numerical control and servo-drive system.Because five processing will coordinate to control five axles, digital control system must have the control function of five-axle linkage; Resultant motion has the adding of gyration in addition, has increased the workload of interpolation operation; The slight error of gyration might be amplified, and the precision for fear of influence processing requires digital control system that high arithmetic speed will be arranged.
Laser robot's system of processing generally adopts prosthetic robot, is fit to the work of almost any angle and track, can freely programme controllable error rate, higher production efficiency.But most at present robots fixes a point when using in certain fixed position, because the restriction of robot self working space, its working range is less than normal in reality processing, for large-scale workpiece, powerless as the processing of the large complicated part in large-scale covering mould, boats and ships and the locomotive manufacturing of automobile.
Summary of the invention
At the problems referred to above, the invention provides a kind of multi-axis linkage numerical control laser processing system, this system has solved the little problem of the articulated robot laser-processing system range of work, can satisfy the digital control laser processing request of large scale and oversize parts.
Multi-axis linkage numerical control laser processing system provided by the invention is characterized in that:
First line slideway is installed on the workbench, and the two ends of first line slideway are separately installed with workbench tailstock and headstock, and first, second open type center rest is movably arranged on first line slideway, and between workbench tailstock and headstock;
The guide rail platform is installed in by the workbench, and the guide rail platform is provided with second line slideway parallel with first line slideway, and Mobile Slide is movably arranged on second line slideway; The artificial industrial robot more than three of machine, robot is fixed on the Mobile Slide, and laser Machining head is installed on last joint end of robot;
Laser Machining head links to each other with laser instrument by optical fiber; Cooler links to each other with laser instrument and laser Machining head respectively by cooling tube;
Controller is connected with robot and Mobile Slide by control line respectively, and control robot and control Mobile Slide drive robot and move on the guide rail platform.
Technique scheme can adopt one or more modes to improve: (one) is equipped with drag chain in the outside of guide rail platform, and optical fiber and cooling tube are installed in the drag chain; (2) first, second open type center rest structure is identical, they include pallet base and the pair of supporting that is installed on the pallet base, pallet base is installed on first line slideway of workbench, the pair of supporting symmetry is installed in the V-type groove at pallet base top, and each bracing frame top all is equipped with roller; (3) the guide rail platform comprises rail chair and second line slideway and the rack type line slideway that are installed on the rail chair; Mobile Slide comprises feeding slide, servomotor, limit switch and feed gear wheel, the bottom of feeding slide is provided with the chute that cooperates with second line slideway, feed gear wheel cooperates with tooth bar on the rack type line slideway, feed gear wheel is installed in the bottom of feeding slide, servomotor is connected with feed gear wheel, and the control feed gear wheel drives the feeding slide and moves along second line slideway; (4) the guide rail platform comprises rail chair and the leading screw screw rod and second line slideway that are installed on the rail chair; Mobile Slide comprises feeding slide, servomotor, limit switch and leading screw ball nut, the bottom of feeding slide is provided with the chute that cooperates with second line slideway, the leading screw ball nut cooperates with leading screw screw rod on the rail chair, the leading screw ball nut is installed in the bottom of feeding slide, servomotor is connected with the leading screw screw rod, and control leading screw screw rod drives the feeding slide and moves along second line slideway.
System of the present invention gathers Laser Processing Digit Control Machine Tool and articulated robot, existing Laser Processing Digit Control Machine Tool system of processing programming complexity, control have not only been overcome than difficulty and the high defective of expense, reduced the difficulty of numerical control programming, the flexibility and the automation control ability of laser-processing system have been improved, and Laser Processing efficient and processing parts size range have significantly been improved, solve the little problem of the articulated robot laser-processing system range of work, can satisfy the digital control laser processing request of large scale and oversize parts.Particularly, the present invention has following technique effect:
1, adopt portable structure, robot no longer is fixed on a position, and it can move along line slideway, has extended the working space of robot greatly, thereby can machining large workpiece and ultra-large workpiece, has increased substantially the processing parts size range.
2, adopt advanced multiaxial joint robot, improved the flexibility and the automation control ability of system.Generally speaking, modern business machine people itself has developed powerful software control system, can carry out teaching or off-line programing, greatly reduces the programming difficulty of complex-curved processing, has improved production efficiency; In addition, robot itself generally has self-developed control system, makes the Control System Design of whole process equipment obtain simplifying; And along with industrial robot the popularizing gradually of fields such as industry, logistics, price is more and more lower, the manufacturing cost of complete set of equipments also will reduce.
3, " cutter " of this system of processing is laser, laser instrument can adopt ripe already solid state laser (comprising lamp pump laser, diode pumping full-solid laser instrument, diode laser or optical fiber laser), its common feature is that laser beam can pass through Optical Fiber Transmission, therefore can combine with the flexibility motion process of robot, improve the precision and the efficient of Laser Processing.
4, workbench can adopt universal machine tools to realize, the clamping of workpiece and processing are all very convenient, so this system of processing has very big versatility, can satisfy the Laser Processing requirement of the large parts of various difformities, size.
5, laser Machining head can be changed according to the processing needs, as adopting the laser weld processing head respectively, and the Laser cutting head, laser melting coating processing is first-class, has improved the versatility and the practicality of laser process equipment greatly.
6, each motion of robot, the motion of workbench main shaft, the motion of Mobile Slide all are integrated into the robot controller centralized Control, can realize eight interlock controls of system at most.
Description of drawings
Fig. 1 is the stereogram of system of the present invention;
Fig. 2 is the front view of system of the present invention;
Fig. 3 is the vertical view of system of the present invention;
Fig. 4 is the left view of system of the present invention;
Fig. 5 is the front view of Mobile Slide;
Fig. 6 is the vertical view of Mobile Slide;
Fig. 7 is the headstock structural representation;
Fig. 8 is the structural representation of open type center rest.
Fig. 9 is the left view of rail track platform.
The specific embodiment
Below by by example the present invention being described in further detail, but following examples only are illustrative, and protection scope of the present invention is not subjected to the restriction of these embodiment.
As shown in Figures 1 to 4, system of the present invention comprises robot 1, laser Machining head 2, workbench tailstock 3, first, second open type center rest 4,4 ', workbench 5, headstock 6, guide rail platform 7, laser instrument 8, cooler 9, controller 10, drag chain 11, Mobile Slide 12, optical fiber 20.
Headstock 6 can adopt existing structure, but is not limited thereto.As shown in Figure 7, the common structure of headstock 6 comprises chuck 16, main shaft 17, gearbox 18 and drive motors 19.Chuck 16 is used for holding workpiece, and workpiece is played fixing and centering effect.Main shaft 17 1 ends link to each other with chuck 16, and an end links to each other with gearbox 18, is mainly used to transferring power, makes chuck 16 can carry out gyration.Gearbox 18 plays the function of regulating chuck 16 rotating speeds by gearshift.Drive motors 19 links to each other with gearbox 18, is used to provide the power that chuck 16 rotates.
Tailstock 3 also can adopt general structure, it comprises tailstock pedestal and top, top be used for to workpiece carry out in and clamping work pieces, pedestal can move on the line slideway of workbench, reach the distance between the chuck 16 of adjusting top and headstock 6, thereby make system of processing can process the workpiece of different size scope.
First, second open type center rest 4,4 ' structure are identical, and as shown in Figure 8, they include pallet base 13 and are installed in pair of supporting 14 on the pallet base.Pallet base 13 is installed on the line slideway of workbench 5, can drive whole carriage and laterally move along workbench.The pair of supporting symmetry is installed in the V-type groove at pallet base top.Each bracing frame top all is equipped with roller 15, holds up workpiece at carriage and adds man-hour, and roller can rotate with workpiece, can reduce the friction between workpiece and the carriage.
When workpiece was very long, because the thermal stress that produces in deadweight or the process can make the workpiece middle part produce sagging distortion, carriage can avoid above-mentioned phenomenon to take place from monosymmetric picking-up workpiece, thereby guarantees the workpiece machining accuracy.
Workbench 5 is mainly used to supporting workpiece, mainly is made of the table surface and second line slideway.
Robot 1 is the motor center of system of processing, and the present invention adopts three to six multi-axis industrial robot, and it can adopt existing commercially available prod but be not limited thereto.Robot 1 is fixedly mounted on the Mobile Slide 12.Controller 10 comprises two parts, and a part is the control section to robot 1 main body, and by be connected the control that realizes robot motion with each motor in the robot 1, another part is the control section of Mobile Slide 12 and main shaft 17.Controller 10 is brains of robot, also is the core of whole system of processing.It not only can move according to preset program by the inner shaft of off-line or teach programming control robot 1, but also has expanded function.Behind off-line or teach programming, generate the discernible motion code of robot, make robot drive laser Machining head 2 and move according to the path of program setting.
Robot 1 can move on guide rail platform 7 along with Mobile Slide 12 under the control of controller 10.
Headstock 6 is installed on the line slideway of workbench 5, and tailstock 3 is installed on the line slideway of workbench 5, and open type center rest 4,4 ' is installed on the line slideway of workbench 5, and between headstock 6 and tailstock 3.
Laser Machining head 2 is cemented in last joint end of robot 1 by ring flange, and it is the actuating unit of system of processing, is equivalent to the cutter in the machining.Laser Machining head 2 can be changed according to different processing needs, and the welding processing head that uses during such as laser weld uses the cutting processing head during laser cutting.
Cooler 9 links to each other with laser instrument 8 and laser Machining head 2 respectively by cooling tube, is used for the eyeglass of laser instrument 8, optical fiber 20 and laser Machining head 2 is cooled off.
The workflow of multiaxis laser process equipment of the present invention:
(1) whether the each several part of test system of processing moves normally, comprises robot 1, laser instrument 8, cooler 9, laser Machining head 2, workbench etc.
(2) adjust the position of chuck 16, tailstock 3 and center rest 4, with parts fixation to be processed on workbench.
(3) adjust to the initial position of processing in multiaxis industry 1 robot, and set up basis coordinates system.
(4) according to three-dimensional geometry size and its coordinate system of workpiece to be processed, the utilization robot language carries out off-line programing.
(5) program is imported controller 10, and the teaching test.
(6) test result errorless after, formally process.
(7) completion of processing as required, determines whether to process another parts;
(8) close each parts of system of processing.
The above is preferred embodiment of the present invention, but the present invention should not be confined to the disclosed content of this embodiment and accompanying drawing.So everyly do not break away from the equivalence of finishing under the spirit disclosed in this invention or revise, all fall into the scope of protection of the invention.
Claims (5)
1. multi-axis linkage numerical control laser processing system is characterized in that:
Workbench is equipped with first line slideway on (5), the two ends of first line slideway are separately installed with workbench tailstock (3) and headstock (6), first, second open type center rest (4,4 ') is movably arranged on first line slideway, and is positioned between workbench tailstock (3) and the headstock (6);
It is other that guide rail platform (7) is installed in workbench (5), and guide rail platform (7) is provided with second line slideway parallel with first line slideway, and Mobile Slide (12) is movably arranged on second line slideway;
Robot (1) is the industrial robot more than three, and robot (1) is fixed on the Mobile Slide (12), and laser Machining head (2) is installed on last joint end of robot (1);
Laser Machining head (2) links to each other with laser instrument (8) by optical fiber; Cooler (9) links to each other with laser instrument (8) and laser Machining head (2) respectively by cooling tube;
Controller (10) is connected with robot (1) and Mobile Slide (12) by control line respectively, and control robot (1) and control Mobile Slide (12) drive robot (1) and go up mobile at guide rail platform (7).
2. multi-axis linkage numerical control laser processing system according to claim 1 is characterized in that: the outside of guide rail platform (7) is equipped with drag chain (11), and optical fiber and cooling tube are installed in the drag chain (11).
3. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that:
First, second open type center rest (4,4 ') structure is identical, they include pallet base (13) and are installed in pair of supporting (14) on the pallet base, pallet base (13) is installed on first line slideway of workbench (5), pair of supporting (14) symmetry is installed in the V-type groove at pallet base top, and each bracing frame top all is equipped with roller (15).
4. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that: guide rail platform (7) comprises rail chair (26) and is installed in second line slideway and rack type line slideway (27) on the rail chair (26);
Mobile Slide (12) comprises feeding slide (21), servomotor (22), limit switch (23) and feed gear wheel (24), the bottom of feeding slide (21) is provided with the chute (25) that cooperates with second line slideway, feed gear wheel (24) cooperates with tooth bar on the rack type line slideway (27), feed gear wheel (24) is installed in the bottom of feeding slide (21), servomotor (22) is connected with feed gear wheel (24), and control feed gear wheel (24) drives feeding slide (21) and moves along second line slideway.
5. multi-axis linkage numerical control laser processing system according to claim 1 and 2 is characterized in that:
Guide rail platform (7) comprises rail chair (26) and is installed in the leading screw screw rod and second line slideway on the rail chair (26);
Mobile Slide (12) comprises feeding slide (21), servomotor (22), limit switch (23) and leading screw ball nut, the bottom of feeding slide (21) is provided with the chute (25) that cooperates with second line slideway, the leading screw ball nut cooperates with leading screw screw rod on the rail chair (26), the leading screw ball nut is installed in the bottom of feeding slide (21), servomotor (22) is connected with the leading screw screw rod, and control leading screw screw rod drives feeding slide (21) and moves along second line slideway.
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| CN101954495A (en) * | 2010-06-10 | 2011-01-26 | 无锡华联精工机械有限公司 | Tailstock device of pipe numerical control drilling machine |
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| CN102000913A (en) * | 2010-11-02 | 2011-04-06 | 华中科技大学 | Multi-axis numerical control laser processing device |
| CN102513702A (en) * | 2012-01-05 | 2012-06-27 | 哈尔滨工业大学 | Vacuum laser welding equipment and method |
| CN102756211A (en) * | 2012-08-02 | 2012-10-31 | 安阳市睿恒数控机床有限公司 | Laser longitudinal moving type numerical control cladding machining equipment |
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Application publication date: 20100407 |