CN102000913A - Multi-axis numerical control laser processing device - Google Patents
Multi-axis numerical control laser processing device Download PDFInfo
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- CN102000913A CN102000913A CN2010105284340A CN201010528434A CN102000913A CN 102000913 A CN102000913 A CN 102000913A CN 2010105284340 A CN2010105284340 A CN 2010105284340A CN 201010528434 A CN201010528434 A CN 201010528434A CN 102000913 A CN102000913 A CN 102000913A
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Abstract
The invention provides and discloses a multi-axis numerical control laser processing device. The structure of the multi-axis numerical control laser processing device is that: a linear guide rail is arranged on a cross beam of a fixed frame base body; a cantilever is arranged on the linear guide rail; a servo motor is arranged in the middle of the cantilever and drives the cantilever to do linear movement on the linear guide rail through a driving mechanism; a multi-joint robot is inversely hung and arranged at the tail end of the cantilever and is an industrial robot with more than three axes; a laser process head is arranged at the tail end of the last joint of the multi-joint robot; the laser processing head is connected with a laser through an optical fiber, and the laser processing head and the laser are connected with a cooling machine respectively through a cooling pipe; a workbench is position below the laser processing head; and a controller is connected with the multi-joint robot and the cantilever respectively through a control line. The multi-axis numerical control laser processing device simplifies the structure of a laser processing numerical control machine tool, reduces the difficulty of numerical control programming and enlarges the size range of processing parts greatly.
Description
Technical field
The invention belongs to field of laser processing, be specifically related to a kind of numerical control laser processing device.This device can be used for the workpiece of different model is carried out Laser Processing, comprises welding, cutting and surface heat processing etc., is particularly useful for 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 device 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), the variation of character will take place in laser processing technology, as becoming 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 device, realize intelligence flexible processing.
Present robot laser processing device 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 Laser Processing requirement of the CO2 laser instrument of the reflection transmission that relies on optical mirror slip; Another kind is based on the laser processing device of multi-axis robot, its flexibility degree height, adapt with the optical fiber output of solid state laser, can satisfy the Laser Processing requirement of various complex three-dimensional forms, the CO2 laser instrument is difficult to use Optical Fiber Transmission because of its light beam, therefore seldom uses robot as system of processing.
Existing CNC laser processing machine bed can be two to five frees degree according to the performance requirement of institute's processing object.Be generally five frees degree, be called the five-axle linkage laser processing device, 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 participations that rotatablely move, 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 seems comparatively narrow in reality processing, for large-scale workpiece, powerless as the processing of large complicated parts such as large mold, locomotive body, boats and ships.
(notification number is CN101690994 to Chinese invention patent document " a kind of numerical control laser processing device ", open day is on 04 07th, 2010) in the report, proposed a kind of multi-axis linkage numerical control laser processing device, this processing unit (plant) gets up Laser Processing Digit Control Machine Tool and multiaxial joint collection of bots.The Laser Processing Digit Control Machine Tool has adopted two kinds of machine tool structures.The one, adopt the travelling gantry structure, the multiaxial joint robot can be along gantry upright post crossbeam direction rectilinear motion, and column can vertically move along line slideway simultaneously, has increased by two frees degree; The 2nd, adopt fixedly gantry structure, the multiaxial joint robot can be along gantry upright post crossbeam direction rectilinear motion, and table saddle can increase by two frees degree equally along table longitudinal movement simultaneously.This device has not only improved the flexibility and the automation control ability of laser processing device, reduced the difficulty of numerical control programming, and increased substantially working (machining) efficiency and processing parts size range, can satisfy the digital control laser processing request of large scale and oversize parts especially.
Summary of the invention
The object of the present invention is to provide a kind of multi-axis numerical control laser processing device, this device has been simplified the structure of Laser Processing Digit Control Machine Tool, reduces the difficulty of numerical control programming, and improves the processing parts size range to a greater degree.
A kind of multi-axis numerical control laser processing device provided by the invention is characterized in that this device comprises the fixed frame matrix, line slideway, cantilever, articulated robot, laser Machining head, laser instrument, cooler, controller, workbench and servomotor;
Line slideway is installed on the crossbeam of fixed frame matrix, and cantilever is installed on the line slideway, and servomotor is installed in the cantilever middle part, and servomotor drives cantilever straight line on line slideway by transmission mechanism and moves; The articulated robot reversal of the natural order of things is installed in the end of cantilever, and articulated robot is the industrial robot more than three; On last joint end of articulated robot laser Machining head is installed; Laser Machining head links to each other with laser instrument by optical fiber; Laser Machining head links to each other with cooler respectively by cooling tube again with laser instrument; Workbench is positioned at the below of laser Machining head; Controller is connected with cantilever with articulated robot respectively by control line.
Improvement of the technical scheme is: the mesa width of workbench is the maximum functional diameter of articulated robot, and the table top of workbench is distributed with equidistant T type groove.
Apparatus of the present invention can realize a kind of new digital control laser processing mode, it gathers Laser Processing numerical control and articulated robot, not only overcome existing Laser Processing Digit Control Machine Tool digital-control processing system programming complexity, control than difficulty and the high defective of expense, and solved the little problem of the articulated robot laser processing device range of work.Particularly, the present invention has following technique effect:
1. be installed in can be on the cantilever that moves on the line slideway for articulated robot reversal of the natural order of things.Articulated robot no longer is to be fixed on a position, but along with cantilever moves along the line slideway that is installed on the fixed frame matrix crossbeam together; Extended the working space of robot greatly along with the increase of line slideway length, thus can machining large and ultra-large workpiece, increased substantially the processing parts size range.
2. adopt advanced articulated 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, articulated robot itself generally has self-developed control system, thereby makes the Control System Design of entire processing apparatus obtain simplifying; And along with industrial robot the popularizing gradually of fields such as industry, logistics, price is more and more lower, thus the cost of whole system also will reduce.
3. " cutter " of this system of processing is laser, laser instrument can adopt ripe already solid state laser (to comprise 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 the flexibility motion process that can drink robot combines, and improves the precision and the efficient of Laser Processing.
4. 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 processing greatly.
5. the control system of the integrated articulated robot of controller, cantilever and laser instrument can be controlled each motion of articulated robot and the motion of cantilever simultaneously in one, realizes the multi-shaft interlocked control of system.
Improved technical scheme of the present invention also has following technical characterstic:
1. the mesa width of workbench is the maximum functional diameter of articulated robot, thereby guarantee that whole table surface is all within the working range of articulated robot, the motion of articulated robot on the workbench width need not be set in addition, thereby simplify the motion mode of processing unit (plant).
2. the table top of workbench is distributed with equidistant T type groove, and the clamping of workpiece and processing are all very convenient, so this processing unit (plant) has very big versatility, can satisfy the Laser Processing requirement of the large parts of various difformities, size.
Description of drawings
Fig. 1 is the structural front view of a kind of specific embodiment of apparatus of the present invention;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the vertical view of Fig. 1.
The specific embodiment
The present invention all can satisfy Laser Processing, simple relatively, the lower-cost requirement of control to large-scale workpiece.
Below by by embodiment the present invention being described in further detail, but once embodiment only is illustrative, and protection scope of the present invention is not subjected to the restriction of these embodiment.
As shown in Figure 1, 2, 3, multi-axis linkage numerical control laser processing device provided by the invention comprises fixed frame matrix 1, line slideway 2, cantilever 3, articulated robot 4, laser Machining head 5, laser instrument 6, cooler 7, controller 8, workbench 9 and servomotor 10.
Fixed frame matrix 1 is mainly used to support and enlarge the range of work of articulated robot 4.Line slideway 2 is installed on the crossbeam of fixed frame matrix 1.
Cantilever 3 is installed on the line slideway 2 on the crossbeam of fixed frame matrix 1.Cantilever 3 middle parts are equipped with servomotor 10, and servomotor 10 drives cantilever 3 straight line on line slideway 3 by transmission mechanism and moves.Transmission mechanism can adopt drive disk assemblies such as rack-and-pinion or ball screw, adopts rack-and-pinion usually when line slideway 2 strokes are longer, adopts ball wire rod mechanism relatively more in short-term at line slideway 2 strokes.
The articulated robot 4 general industrial robots that adopt three to six, it possesses teaching or off-line programing function, and has self-developed control system.Articulated robot 4 reversals of the natural order of things are cemented in the end of cantilever 3, can be along with the mobile and same moved further of cantilever 3, and articulated robot 4 is delivered to appointed positions with laser Machining head 5 under the control of controller 8, thereby finish the workpiece 3 D stereo is processed.
Laser Machining head 5 is cemented in last joint end of articulated robot 4 by ring flange, and links to each other with laser instrument 6 by optical fiber.Laser Machining head 5 is equivalent to the cutter in the machining.Laser Machining head 5 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 7 links to each other with laser instrument 6 and laser Machining head 5 respectively by cooling tube, it is pressed into cooling medium (water or air) in laser instrument 6 and the laser Machining head 5 by cooling tube, the parts of laser instrument 6 and the eyeglass in the laser Machining head 5 are cooled off, then with medium circulation in cooler 7.
1. the motion of control articulated robot 4.Manually control articulated robot 4 each motion by guidance panel, also can move according to projected path by teach programming or off-line programing control robot.
2. the motion of control cantilever 3.Servomotor 10 is connected on the controller 8 by the I/O interface, and the kinematic parameter of cantilever 3 so just can be set by controller 8, comprises the direction of motion and speed, is equivalent to 6 articulated robots are expanded into 6+1 axle robot architecture.
3. control laser instrument 6.Laser instrument 6 is connected on the controller 8 by the I/O interface, the power setting of opening the light, closing light and laser instrument 6 that so just can be by controller 8 control laser instruments 6 etc.
Workbench 9 is cemented on the ground of fixed frame matrix 1 one sides, and is positioned at the below of laser Machining head 5.The mesa width of workbench 9 is the maximum functional diameter of articulated robot 4, and the table top of workbench 9 is distributed with equidistant T type groove, and the anchor clamps of different sizes can be installed, thereby reaches the purpose of the different big small workpiece of processing.
The workflow of multiaxis laser processing device of the present invention:
1. whether the each several part of test machining center moves normally, comprises robot 4, laser Machining head 5, laser instrument 6, cooler 7 and workbench 9 etc.
According to the length of part to be processed with parts fixation to be processed on workbench 9.
3. articulated robot 4 is adjusted to the initial position of processing, and set up basis coordinates system and tool coordinates system.
4. according to the three-dimensional geometry size of workpiece to be processed, the utilization robot language carries out off-line programing.
5. program is imported controller 8, and carried out the teaching test.
Test result errorless after, formally process.
7. completion of processing as required, determines whether to process another parts;
8. close each parts of machining center.
The above is preferred embodiment of the present invention.But the present invention should not be confined to change embodiment and the disclosed content of 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 (2)
1. multi-axis numerical control laser processing device, it is characterized in that, this device comprises fixed frame matrix (1), line slideway (2), cantilever (3), articulated robot (4), laser Machining head (5), laser instrument (6), cooler (7), controller (8), workbench (9) and servomotor (10);
Line slideway (2) is installed on the crossbeam of fixed frame matrix (1), cantilever (3) is installed on the line slideway (2), servomotor (10) is installed in cantilever (3) middle part, and servomotor (10) is gone up straight line by transmission mechanism drive cantilever (3) at line slideway (3) and moved; Articulated robot (4) reversal of the natural order of things is installed in the end of cantilever (3), and articulated robot (4) is the industrial robot more than three; On last joint end of articulated robot (4) laser Machining head (5) is installed; Laser Machining head (5) links to each other with laser instrument (6) by optical fiber; Laser Machining head (5) links to each other with cooler (7) respectively by cooling tube again with laser instrument (6); Workbench is positioned at the below of laser Machining head (5); Controller (8) is connected with cantilever (3) with articulated robot (4) respectively by control line.
2. multi-axis numerical control laser processing device according to claim 1 is characterized in that, the mesa width of workbench (9) is the maximum functional diameter of articulated robot (4), and the table top of workbench (9) is distributed with equidistant T type groove.
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| CN2010105284340A CN102000913A (en) | 2010-11-02 | 2010-11-02 | Multi-axis numerical control laser processing device |
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| CN2010105284340A CN102000913A (en) | 2010-11-02 | 2010-11-02 | Multi-axis numerical control laser processing device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310278A (en) * | 2011-06-22 | 2012-01-11 | 胡忠 | Magnetic separated numerical control laser oxidizing fusion cutting machine |
| CN102886604A (en) * | 2011-07-21 | 2013-01-23 | 深圳市通发激光设备有限公司 | Articulated laser welding machine for optical fiber transmission mold |
| CN106166647A (en) * | 2016-08-30 | 2016-11-30 | 厦门真好汉自动化设备有限公司 | A kind of optical-fiber laser cutting equipment and cutting method thereof |
| CN107363380A (en) * | 2017-09-18 | 2017-11-21 | 德阳天元重工股份有限公司 | Suspension bridge saddle integrated partition welding manipulator |
| CN107661982A (en) * | 2016-07-29 | 2018-02-06 | 上海微电子装备（集团）股份有限公司 | Metal 3D printing system and Method of printing |
| CN108581192A (en) * | 2018-07-16 | 2018-09-28 | 东莞市绿志节能科技有限公司 | A kind of laser cutting device |
| CN109468636A (en) * | 2018-12-27 | 2019-03-15 | 江苏点金激光科技有限公司 | A kind of laser melting coating machining tool based on joint arm |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113791528A (en) * | 2021-10-21 | 2021-12-14 | 深圳大学 | Robot-based lithography apparatus and lithography method |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102310278A (en) * | 2011-06-22 | 2012-01-11 | 胡忠 | Magnetic separated numerical control laser oxidizing fusion cutting machine |
| CN102886604A (en) * | 2011-07-21 | 2013-01-23 | 深圳市通发激光设备有限公司 | Articulated laser welding machine for optical fiber transmission mold |
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| CN107363380A (en) * | 2017-09-18 | 2017-11-21 | 德阳天元重工股份有限公司 | Suspension bridge saddle integrated partition welding manipulator |
| CN107363380B (en) * | 2017-09-18 | 2023-09-19 | 德阳天元重工股份有限公司 | Welding manipulator for welding integral type baffle plate of suspension bridge saddle |
| CN108581192A (en) * | 2018-07-16 | 2018-09-28 | 东莞市绿志节能科技有限公司 | A kind of laser cutting device |
| CN109468636A (en) * | 2018-12-27 | 2019-03-15 | 江苏点金激光科技有限公司 | A kind of laser melting coating machining tool based on joint arm |
| CN113245722A (en) * | 2021-06-17 | 2021-08-13 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113245722B (en) * | 2021-06-17 | 2021-10-01 | 昆山华恒焊接股份有限公司 | Control method and device of laser cutting robot and storage medium |
| CN113791528A (en) * | 2021-10-21 | 2021-12-14 | 深圳大学 | Robot-based lithography apparatus and lithography method |
| CN113791528B (en) * | 2021-10-21 | 2023-11-03 | 深圳大学 | Robot-based lithography device and lithography method |
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Application publication date: 20110406 |