CN101698263B - Three-cutting torch H-shaped steel double-end automatic cutting machine with structural light detector - Google Patents
Three-cutting torch H-shaped steel double-end automatic cutting machine with structural light detector Download PDFInfo
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- CN101698263B CN101698263B CN2009100709407A CN200910070940A CN101698263B CN 101698263 B CN101698263 B CN 101698263B CN 2009100709407 A CN2009100709407 A CN 2009100709407A CN 200910070940 A CN200910070940 A CN 200910070940A CN 101698263 B CN101698263 B CN 101698263B
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Abstract
The invention discloses a three-cutting torch robot H-shaped steel double-end automatic cutting system with a structural light detector. The system consists of the structural light detector, a cutting robot and the like. The cutting robot consists of large arms, a small arm, a guide screw and a cutting torch. A processing platform is provided with two guide rails, and a sliding platform is arranged on the guide rails. A cross beam is fixed on the sliding platform through an upright post, and a bracket is also fixed on the sliding platform. The upper end face of the cross beam is provided with a structural light detector bracket on which a structural light generator and an image acquisition device are arranged, and the front side of the cross beam is provided with a guide rail groove. One end of each of two large robot arms is arranged in the guide rail groove to form a moving pair; and the large arms, the small arm, the composite guide screw and the cutting torch are connected in sequence. Another large robot arm is connected to the upper end face of the cross beam. The two cutting robots have four degrees of freedom, and another one has five degrees of freedom. The three robots are separately controlled to cut a web plate and a wing plate at the same time, so the cutting efficiency of the H-shaped steel is effectively improved based on ensuring the cutting precision.
Description
Technical field
The invention belongs to Robotics, be specifically related to a kind of steel automatic cutting device.
Background technology
Large structure frame based on the design of H shaped steel is widely used in various building fields, as land or offshore drilling platforms, large supermarket and stadiums, bridge and TV or communication signal tower etc.Be convenient construction, build at framework and go to the joint that is fit to welding toward cutting out, such as on a web of H shaped steel and 3 planes of two wing plates, finishing: cutting straight line, curve, circular arc, fabrication hole, groove etc. in H shaped steel termination.Because H shaped steel exists size or form and position tolerance in the operation of rolling, therefore need carry out shape and position probing to the H shaped steel that is cut.But at present the H structural section being had concurrently the technical method or the device that detect and cut does not see as yet.
At present comparatively universal for the cutting technique of simple section bar, wherein be no lack of the existing finished product that is used to produce.Most of cutting machine all adopts the flame cutting, cutting torch is fixed on the end of cutting mechanism.The H shaped steel cutting machine that welding facility factory produces is built in Shanghai, is bicycle, the cutting of single cutting torch, and the cutting torch free degree is lower, generally is used for rupturing operation.Europe disclosed a kind of application for a patent for invention (H Beam Style Auto Cutting Machine) of 3 torch cuttings in 2003, can be simultaneously web, the wing plate of H shaped steel be cut.But the cutting torch free degree of this equipment is lower, is difficult to finish complicated operations.Above-mentioned two kinds of cutting machines mentioning all can not carry out error-detecting.Because H shaped steel all exists bending or twist distortion at three faces and length direction, these deformation will directly influence cut quality, even cause cutting torch and shaped steel collision to cause device damage.Shanghai Communications University, Jiannan Shipbuilding (Group) Co. Ltd. have proposed a kind of patent application (the laser spacing method of cutting of shaped steel robot and scoring system) of laser spacing method, belong to single cutting torch cutting.This method need be installed laser detection equipment the robot end, obtains the size characteristic of shaped steel by the mode of scanning, according to the survey data cutting torch track is revised then.The method of laser scanning needs scanning repeatedly just can obtain the detailed size of H shaped steel, has therefore increased non-cutting time to a certain extent, and main is not possess three cutting torch cutting techniques.
Summary of the invention
The objective of the invention is detection and cutting appearance are one, a kind of three H of cutting torch robot shaped steel both-end automatic cutting devices that structured light detects that have are provided.
Describe below in conjunction with the know-why of accompanying drawing invention.The present invention is one and has structured light and detect the deformation of H shaped steel, have the device that three cutting torches (rifle) cut automatically to H shaped steel two ends.The operation of three cutting torches is finished by three cutting robots, and wherein two cutting robots have four frees degree (1 rotation of 3 translations), promptly along the translation of X, Y, three axis of Z; Around the rotation of compound leading screw axis separately; Another cutting robot has five frees degree (2 rotations of 3 translations), promptly along the translation of X, Y, three axis of Z; Around the rotation of compound leading screw axis with around the rotation of shaft coupling.Wherein No. one and No. three cutting robots are made up of big arm, forearm, compound leading screw and cutting torch, and the composition structure of No. two cutting robots and No. one and No. three are basic identical, and difference is to have installed a shaft coupling between compound leading screw and cutting torch additional.Structured light detector is made up of structured light generator and image acquisition device.
Structurally: the processing platform plane fixedly installs two guide rails, and guide rail is (X-direction) and processing platform vertical consistency vertically, and sliding platform places on the guide rail and can vertically move along guide rail.Crossbeam is fixed on the sliding platform by column, crossbeam and column are formed as the carriage that supports three cutting robots, its front side (X-axis positive direction) and processing platform parallel longitudinal, be fixed in above the sliding platform the vertical and processing platform parallel longitudinal of H shaped steel with anchor clamps as the H shaped steel that is cut processing.Front side at crossbeam has guide rail groove, and an end of No. one and No. three big arm is installed in and constitutes moving sets in the guide rail groove, and the arm beam can be along the slippage of the guide rail groove left and right sides.All be connected with an end movable axis of forearm separately with the other end of No. three big arms for No. one, forearm can be respectively horizontally rotates around the installation end of its big arm.The other end of No. one and No. three forearm is installed compound leading screw separately respectively, compound leading screw not only can rotate but also can be above-mentioned two kinds of move synthetic along the Z-direction translation with around its axis, the fixedly connected cutting torch separately in the lower end of compound leading screw, cutting torch is parallel with processing platform.
It is basic identical that No. two cutting robots are formed structure and No. one and No. three.But an end of No. two big arms and the upper surface fixed axis of crossbeam are connected and installed, and big arm can horizontally rotate along the crossbeam upper surface around axle.Lower end at its compound leading screw is connected with shaft coupling, and the axis normal of the rotation of shaft coupling and No. two compound leading screws; The other end of shaft coupling is connected with No. two cutting torch movable axis.No. two cutting torch can rotate around the rotation of shaft coupling, and the axis of the compound leading screw of No. two cutting robots should rotate in the formed plane at No. two cutting torches.
Be used for cutting the wing plate of H shaped steel both sides with No. three cutting robots No. one; No. two cutting robots are used to cut the web of H shaped steel.Robot being provided with of cutting machine is: No. one and No. three two cutting robots are positioned at the two ends of cutting machine crossbeam, and No. two cutting robots are between one, No. three two cutting robot.The arm beam of three big arms all with the processing platform plane parallel.
The structured light detector support is equipped with in the upper surface of crossbeam, and structured light generator and image acquisition device are housed on this support.The structured light detector support can along with carriage along the vertically moving of shaped steel, thereby structured light generator and image acquisition device can detect a plurality of X-axis cross section of shaped steel.The structured light generator shines the shaped steel surface with structured light (light belt), after this light belt runs into shaped steel, is blocked by shaped steel, demonstrates H shaped steel appearance profile on this light belt face, gathers image by image acquisition device then.Image acquisition device with the image of shaped steel (H shaped steel be in the shaped steel a kind of) surface or cross sectional shape adopt into.Structured light light source is an infrared light.
The structured light that the structured light generator sends is vertical with the shaped steel X-axis, vertically shines the shaped steel surface, and the width of the structure light belt of generation is greater than the distance of shaped steel wing plate lateral surface.Image acquisition device is placed on structured light generator one side and keeps certain angle with the structured light face.Have relational expression as follows:
l1＝l
h1＝h×sinφ
Wherein: l is and the perpendicular length of shaped steel web fore-and-aft plane; L1 is the shaped steel web plane that collected by image acquisition device and the length of the vertical vertical direction of shaped steel; H is the length with the web vertical direction; H1 is that collected by image acquisition device and the length web vertical direction; φ is the angle (as Fig. 2 and Fig. 3) between image acquisition device and the structured light.The above-mentioned relation formula has shown the length of image acquisition device collection and the relation of physical length.
The true form and the desirable cross sectional shape of shaped steel to be cut that are collected shaped steel X axis cross section by image acquisition device compare, and can calculate scale error, the shape position error (comprising offset deviation and torsional deflection) of shaped steel.Can revise the cutting torch track by detected control information, thereby form correct cutting track.
Description of drawings
Accompanying drawing 1 is structural principle shaft side figure of the present invention.
Accompanying drawing 2 is structured light checkout gear front view of the present invention.
Accompanying drawing 3 is structured light checkout gear vertical view of the present invention.
Accompanying drawing 4 need cut out the form of a kind of termination of H shaped steel for the embodiment of the invention.
The specific embodiment
Describe embodiments of the invention below with reference to the accompanying drawings in detail.As shown in drawings.Have the three-cutting torch H-shaped steel double-end automatic cutting machine that structured light detects, have processing platform 1, guide rail 2, sliding platform 3, crossbeam 4, column 5, carriage 6, H shaped steel 7, structured light detector support 8, structured light generator 9, image acquisition device 10, guide rail groove 11, a cutting robot 12-1, a big arm 13-1, a forearm 14-1, a leading screw 15-1, a cutting torch 16-1, No. two cutting robot 12-2, No. two big arm 13-2, No. two forearm 14-2, No. two leading screw 15-2, shaft coupling 17, No. two cutting torch 16-2, No. three cutting robot 12-3, No. three big arm 13-3, No. three forearm 14-3, No. three leading screw 15-3, No. three cutting torch 16-3, H shaped steel wing plate 17 and H shaped steel web 18 etc.Concrete structure is: it is parallel and parallel with processing platform 1 vertical (X-direction) that processing platform 1 plane fixedly installs 2, two guide rails of two guide rails 2.Sliding platform 3 places guide rail 2 and can vertically move along guide rail.Column 5 lower ends are fixed on the sliding platform 3, and crossbeam 4 is fixed on column 5 upper ends, and crossbeam 4 is formed carriage 6 with column 5, and the front side of carriage 6 is identical with the X-axis forward.H shaped steel 7 usefulness anchor clamps are fixed in above the sliding platform 3.Structured light detector support 8 is equipped with in the upper surface of crossbeam 4, structured light generator 9 and image acquisition device 10 are housed on the structured light detector support, structured light detector support 8 can move along H shaped steel 7 vertical (X-axis) with described carriage 6, and structured light light source is an infrared light.Have guide rail groove 11 in the front side of crossbeam 4.
No. one, No. three cutting robot 12-1,12-3 are made up of each self-corresponding No. one and No. three big arm 13-1,13-3, No. one and No. three forearm 14-1,14-3, No. one and No. three compound leading screw 15-1,15-3 and No. one and No. three cutting torch 16-1,16-3.The end of No. one and No. three big arm 13-1,13-3 is installed in and constitutes moving sets in the guide rail groove 11, and the arm beam can be along the slippage of the guide rail groove left and right sides.All be connected with the end movable axis of No. three forearm 14-1,14-3 with No. one with the other end of No. three big arm 13-1,13-3 for No. one, No. one and No. three forearm 14-1,14-3 can be respectively horizontally rotate around the installation end of one number and No. three big arm 13-1,13-3; The other end of No. one and No. three forearm 14-1,14-3 is installed respectively No. one and No. three compound leading screw 15-1,15-3, and No. one parallel with the Z axle with the axis of No. three compound leading screw 15-1,15-3.Compound leading screw both can rotate along the Z-direction translation with around its axis, it can be again translation and synthesizing around two kinds of motions of axle, the lower end of two compound leading screw 15-1,15-3 is connected with the movable axis with No. three cutting torch 16-1,16-3 respectively, and cutting torch is parallel with processing platform.
No. two cutting robot 12-2 is made up of No. two big arm 13-2, No. two forearm 14-2, No. two leading screw 15-2, shaft coupling 17 and No. two cutting torch 16-2.The end of No. two big arm 13-2 and the upper surface fixed axis of crossbeam 4 are connected and installed, and No. two big arm can horizontally rotate along crossbeam 4 upper surfaces around axle; The other end of No. two big arm 13-2 is connected with the end movable axis of No. two forearm 14-2, and No. two forearm 14-2 can horizontally rotate around the installation end of its No. two big arm 13-2; No. two the forearm 14-2 other end is installed No. two compound leading screw 15-2.The axis of No. two compound leading screw 15-2 is parallel with the Z axle, fixedlys connected with shaft coupling 17 1 ends in the lower end of No. two compound leading screws, and the shaft coupling axis is vertical with No. two compound leading screws.The other end of shaft coupling 17 is connected with No. two cutting torch 16-2 movable axis, and No. two cutting torch 16-2 can rotate around the axis of shaft coupling 17, and the axis of No. two compound leading screw 15-2 rotates in the formed plane at No. two cutting torch 16-2.
No. one and No. three cutting torch 16-1,16-3 have four frees degree: wherein 1 rotation of 3 translations, promptly along the translation of X, Y, Z axle with around the rotation of No. one and No. three compound leading screw 15-1,15-3 axis; No. two cutting torch 16-2 has five frees degree: wherein 3 translations and 2 rotations, promptly along the translation of X, Y, Z axle; Around the rotation of No. two compound leading screw 15-2 axis with around the rotation of shaft coupling 17.The arm beam of three big arm 13-1～13-3 all with processing platform 1 plane parallel.No. one cutting robot 12-1 is used for cutting H shaped steel wing plate 17 one side wherein; No. three cutting robot 12-3 are used to cut the another side of wing plate 17; No. two cutting robot 12-2 is used to cut H shaped steel web 18.On the installation site of robot, No. two cutting robot 12-2 are between No. one and No. three two cutting robot 12-1,12-3.The forms of motion of leading screw is: only rotate and do not move up and down, only move up and down and do not rotate, move and add rotation.
Because carriage 6 is fixed on the sliding platform 3, so can vertically move along H shaped steel X-axis.Behind an end that has cut H shaped steel, need not mobile H shaped steel, only need movable support bracket, the other end that just can arrive H shaped steel cuts it.The while carriage can rest on H shaped steel X-axis and the optional position it be carried out cutting operation longitudinally, and this design can effectively improve productivity ratio.
Structured light detector support 8 is fixed on the rear side of carriage 6, and structured light generator 9 is vertical with horizontal plane, and promptly structured light is vertical projects H shaped steel surface, and image acquisition device 10 keeps 45 ° with the structure light beam, and as shown in Figures 2 and 3, promptly the Φ among the figure equals 45 °.Following relation is arranged:
l1＝l
h1＝h×sin45°
For the principle of the invention is described in detail, below a kind of general H shaped steel joint form is carried out the embodiment (both-end cutting) of cutting technique.
Figure 4 shows that the form that H shaped steel one end need be cut out, have groove on the wing plate, need cut out fabrication hole, fillet and bevel on the web, other end form is also like this.
H shaped steel 7 places processing platform 1, generates numerical control program according to steel type, and this moment, the structured light checkout gear was started working, and error was detected and drew in a plurality of cross sections of H shaped steel X-axis track is revised.This tail-bracket 6 arrives H shaped steel one end, and one, No. three cutting torch moves simultaneously, the wing plate 17 on excision web 18 tops, termination, and this moment, No. two cutting torches were parked in the position away from the termination.After a cutting torch cutting is finished, leave the termination, No. three cutting torches continue the same side wing 17 of action excision web 18 bottoms, leave the termination after finishing and quit work.One, after No. three cutting torches withdraws from, No. two cutting torch begins action, H shaped steel web 18 is cut, original position is the A of welding hole starting point excessively near a wing plate that cutting torch is cut, when running to first fillet terminal point B (as Fig. 4), No. one cutting torch begins action again, the wing plate 17 of excision web 18 downsides, Bi Houyi, No. two cutting torches fall back on the position away from the termination, and cutting work is promptly finished.The other end that carriage 6 moves to H shaped steel cuts (process slightly), and cutting operation is finished.
Characteristics of the present invention and beneficial effect be, the existence of structured light checkout gear has improved the precision of cutting, has improved the adaptability of diced system to different shaped steel, and two four-degree-of-freedom robots are used to cut wing plate, and robot with five degrees of freedom is used to cut web.The multiple degrees of freedom of each cutting robot has guaranteed to cut out in the working region shape of needs.Three robots independently control, and can cut simultaneously web, wing plate, are guaranteeing effectively to have improved the cutting efficiency of H shaped steel on the cutting accuracy basis.
Claims (5)
1. the three-cutting torch H-shaped steel double-end automatic cutting machine that detects with structured light; Has processing platform; Guide rail; Sliding platform; Crossbeam; Column; Carriage; H shaped steel; The structured light detector support; The structured light generator; Image acquisition device; Guide rail groove; Cutting robot; Big arm; Forearm; Leading screw; Cutting torch; Shaft coupling; H shaped steel wing plate; The H shape steel web; It is characterized in that: processing platform (1) plane is fixedly installed two guide rails (2); Sliding platform (3) places guide rail (2) upward and can vertically move along guide rail; Crossbeam (4) is fixed on the sliding platform (3) by column (5); Crossbeam and column form as the carriage (6) that supports three cutting robots; Carriage (6) also is fixed in sliding platform (3); Carriage front side and processing platform (1) parallel longitudinal; H shaped steel (7) is fixed in above the sliding platform (3) with anchor clamps; Structured light detector support (8) is equipped with in the upper surface of crossbeam (4); At the structured light detector support structured light generator (9) and image acquisition device (10) are housed; Have guide rail groove (11) in the front side of crossbeam (4).
No. one, No. three cutting robot (12-1,12-3) by each self-corresponding No. one and No. three big arm (13-1,13-3), No. one and No. three forearm (14-1,14-3), No. one and No. three compound leading screw (15-1,15-3) with No. one and No. three cutting torch (16-1,16-3) form, No. one and No. three big arm (13-1, end 13-3) is installed in and constitutes moving sets in the guide rail groove (11), the arm beam can be along the slippage of the guide rail groove left and right sides, No. one and No. three big arm (13-1, other end 13-3) all with No. one and No. three forearm (14-1, end movable axis 14-3) connects, No. one and No. three forearm (14-1,14-3) can be respectively around one number and No. three big arm (13-1, installation end 13-3) horizontally rotates; The other end of No. one and No. three forearms (14-1,14-3) is installed respectively No. one and No. three compound leading screws (15-1,15-3), compound leading screw both can rotate along the Z-direction translation with around its axis, it can be again translation and synthesizing around two kinds of motions of axle, the lower end of two compound leading screws (15-1,15-3) is connected with the movable axis with No. three cutting torches (16-1,16-3) respectively, cutting torch is parallel with processing platform
No. two cutting robots (12-2) are made up of No. two big arms (13-2), No. two forearms (14-2), No. two leading screws (15-2), shaft coupling (17) and No. two cutting torches (16-2), the upper surface fixed axis of one end of No. two big arms (13-2) and crossbeam (4) is connected and installed, No. two big arm can horizontally rotate along crossbeam (4) upper surface around axle, the other end of No. two big arms (13-2) is connected with an end movable axis of No. two forearms (14-2), and No. two forearms (14-2) can horizontally rotate around the installation end of its No. two big arms (13-2); The other end of No. two forearms (14-2) is connected with the upper end of No. two compound leading screws (15-2),
The axis of No. two compound leading screws (15-2) is parallel with the Z axle, fixedly connected with shaft coupling (17) one ends in the lower end of No. two compound leading screws, the shaft coupling axis is vertical with No. two compound leading screws, the other end of shaft coupling (17) is connected with No. two cutting torches (16-2) movable axis, No. two cutting torches (16-2) can rotate around the axis of shaft coupling (17), and the axis of No. two compound leading screws (15-2) is in No. two cutting torches (16-2) rotate formed plane.
2. according to the described three-cutting torch H-shaped steel double-end automatic cutting machine that has the structured light detection of claim 1, it is characterized in that a described cutting robot (12-1) is used for cutting H shaped steel wing plate (17) one side wherein; Described No. three cutting robots (12-3) are used to cut the another side of wing plate (17); No. two cutting robots (12-2) are used to cut H shaped steel web (18).
3. according to claim 1 or the 2 described three-cutting torch H-shaped steel double-end automatic cutting machines that have the structured light detection, it is characterized in that described No. two cutting robots (12-2) are positioned at No. one and No. three two cutting robots (12-1,12-3) between, described three big arms (the arm beam of 13-1～13-3) all with processing platform (1) plane parallel.
4. according to the described three-cutting torch H-shaped steel double-end automatic cutting machine that has the structured light detection of claim 1, it is characterized in that described No. one and No. three cutting torches (16-1,16-3) have four frees degree: 1 rotation of 3 translations, cutting torch is along X, Y, the translation of Z axle and rotation around No. one and No. three compound leading screws (15-1,15-3) axis; Described No. two cutting torches (16-2) have five frees degree: 3 translations and 2 rotations, cutting torch are rotated around No. two compound leading screws (15-2) axis simultaneously and are rotated around shaft coupling (17) along X, Y, the translation of Z axle.
5. according to the described three-cutting torch H-shaped steel double-end automatic cutting machine that has the structured light detection of claim 1, it is characterized in that described structured light detector support (8) can move along H shaped steel (7) X axis with described carriage (6), described structured light light source is an infrared light.
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