CN110091059B - Cutting device, cutting data generation method and cutting method - Google Patents

Abstract

The invention provides a cutting device, which comprises a base station, a cutting mechanism and a clamping mechanism, wherein the base station is provided with a cutting mechanism; the cutting mechanism comprises a three-axis module and a cutting head arranged on the three-axis module in an offset manner; the clamping mechanism comprises an industrial six-axis robot and a clamping assembly arranged on the industrial six-axis robot; under the reasonable matching motion of the clamping mechanism and the cutting mechanism, the automatic cutting of the complex workpiece is realized, and the cutting efficiency and the cutting precision of the complex workpiece are improved.

Description

Cutting device, cutting data generation method and cutting method

Technical Field

The invention relates to the technical field of machining, in particular to a cutting device, cutting data generation and a cutting method thereof.

Background

With the rapid development and the increasingly wide application range of laser processing optical technology, laser processing technology plays an increasingly important role in modern production and manufacturing. Among them, laser cutting is widely used in modern industry due to its advantages of wide cutting range, high cutting speed, narrow cutting slit, good cutting quality, small heat affected zone, and large processing flexibility. However, the automation degree of the current industrial production of laser cutting is not very high, and for a special pipe workpiece with a complex empty surface or a curved surface, the workpiece is not easy to be positioned on the curved surface with sudden bending change due to the concentrated hole positions, for example: the automobile trunk hinge adopts a pipe bending machine to form a three-dimensional shape with complex bending, and then special hole cutting is carried out manually, so that the problem of low cutting efficiency is caused when complex workpieces are cut.

Disclosure of Invention

The invention aims to provide a cutting device, cutting data generation and a cutting method thereof, which are used for solving the problem of low cutting efficiency of a complex workpiece.

In order to solve the above problems, the present invention provides a cutting device, which comprises a base station, and a cutting mechanism and a clamping mechanism both arranged on the base station; the cutting mechanism comprises a three-axis module and a cutting head arranged on the three-axis module in an offset manner; the clamping mechanism comprises an industrial six-axis robot and a clamping assembly arranged on the industrial six-axis robot.

Furthermore, the cutting device also comprises a feeding mechanism fixed on the base platform, and the feeding mechanism comprises a conveying assembly and a positioning assembly arranged on the conveying assembly.

Further, the clamping assembly comprises a robot connecting plate, an anti-collision device and parallel air claws; the robot connecting plate is arranged on a sixth-axis turntable of the industrial six-axis robot; one end of the anti-collision device is connected with the robot connecting plate, and the other end of the anti-collision device is fixedly connected with the parallel air claw through an air claw mounting plate; the parallel pneumatic claws are provided with grippers and are used for driving the grippers to open or clamp.

Furthermore, the three-axis module comprises a second driving device, and an X-axis module, a Y-axis module and a Z-axis module which are vertically arranged; the second driving device is used for providing power for sliding motion among the X-axis module, the Y-axis module and the Z-axis module; the cutting head is arranged at a position deviating from the center of the Z-axis module; the cutting head moves along the X-axis module, the Y-axis module and the Z-axis module along the direction of the vertical movement part.

Further, the conveying assembly comprises a feeding upright post fixed on the base platform and a mounting seat arranged on the feeding upright post; the mounting base is provided with a first guide rail, a second guide rail and a first driving device; the first guide rail and the second guide rail are arranged in parallel, and the first driving device is used for driving the positioning assembly to slide along the first guide rail and the second guide rail. The positioning assembly comprises an object stage, a clamping positioning piece, a first sliding block and a second sliding block; the clamping positioning piece is arranged on the surface of the objective table, and the first sliding block and the second sliding block are fixed on the bottom surface of the objective table; the first sliding block is connected with the first guide rail in a sliding mode, the second sliding block is connected with the second guide rail in a sliding mode, and the number of the clamping positioning pieces is at least two.

Furthermore, the clamping positioning part comprises a pushing cylinder, a floating joint, a guide block, a guide seat and a clamping pin; the push cylinder is fixed on the objective table, a piston rod of the push cylinder is connected with the floating joint, one end of the guide block is fixedly connected with the floating joint through a connecting block, and the other end of the guide block penetrates through a hollow hole of the guide seat and is fixedly connected with a positioning block provided with the clamping pin.

Furthermore, the feeding mechanism also comprises a limiting component; the limiting assembly comprises a limiting block and an induction block matched with the limiting block; the limiting block is fixed on the first guide rail and/or the second guide rail; the induction block is fixed on the objective table.

Further, the base station comprises a base and a portal frame arranged on the base; the feeding mechanism is fixed on the base, the cutting mechanism is arranged on the portal frame in an inverted mode, the feeding mechanism and the cutting mechanism are located on the same side of the clamping mechanism, a discharge port of the feeding mechanism is close to the clamping mechanism, and the cutting mechanism is arranged above the clamping mechanism.

The invention also provides a cutting data generation method, which is applied to the cutting device and comprises the following steps:

acquiring path track data of a workpiece to be cut;

according to the path track data and the characteristic data of the workpiece to be cut, carrying out cutting head path data simulation to generate cutting head track data;

acquiring data of a cutting point of the workpiece to be cut according to the path track data and the cutting head track data to generate cutting path data;

and debugging cutting process parameters according to the cutting path data to generate cutting process parameter data.

The invention also provides a cutting method, which comprises the following steps:

the clamping mechanism clamps a workpiece to be cut according to the path track data and conveys the workpiece to be cut to a cutting area;

and the cutting mechanism cuts the workpiece to be cut in the cutting area according to the cutting path data and the cutting process parameter data.

The cutting device, the cutting data generation method and the cutting method provided by the invention have the beneficial effects that: the clamping mechanism clamps a workpiece to be cut and conveys the clamped workpiece to be cut to the position close to the cutting mechanism, and the cutting mechanism automatically cuts the workpiece to be cut; the workpiece to be cut is cut under the common cooperation of the three-axis module of the cutting mechanism and the industrial six-axis robot of the clamping mechanism, so that the automatic cutting of the complex workpiece is realized, and the cutting efficiency and the cutting precision of the complex workpiece are improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a cutting device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a clamping assembly according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a cutting mechanism according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a feeding mechanism provided in an embodiment of the present invention;

FIG. 5 is a schematic structural view of a clamping and positioning member according to an embodiment of the present invention;

FIG. 6 is a flow chart of the cut data generation provided by the embodiment of the present invention;

fig. 7 is a flowchart of a cutting method according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-a base station; 20-a feeding mechanism; 30-a cutting mechanism; 40-a clamping mechanism; 101-a base; 102-a portal frame; 201-a delivery assembly; 202-a positioning assembly; 301-a three-axis module; 302-a cutting head; 401-industrial six-axis robot; 402-a clamping assembly; 2011-loading upright post; 2012-mount; 2013-a first guide rail; 2014-second guide rail; 2015-a first drive; 2021-stage; 2022-clamping locations; 2023-first slider; 2024-second slider; 2031-a limiting block; 2032-a sensing block; 3011-an X-axis module; 3012-y axis module; 3013-z axis module; 3014-a second drive; 4021-robot connecting plate; 4022-anti-collision device; 4023-parallel gas claw; 4024-gas claw mounting plate; 4025-a gripper; 20221-pushing cylinder; 20222-floating joint; 20223-guide block; 20224-guide seat; 20225-clamp pin; 20226-connecting block; 20227-locating block.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1, an embodiment of the present invention provides a cutting apparatus, which includes a base 10, a cutting mechanism 30, and a clamping mechanism 40. Wherein, the cutting mechanism 30 and the clamping mechanism 40 are both arranged on the base platform. The cutting mechanism 30 includes a tri-axial module 301 and a cutting head 302 offset disposed on the tri-axial module 301. The clamping mechanism 40 comprises an industrial six-axis robot 401 and a clamping assembly 402 arranged on the industrial six-axis robot 401.

The cutting mechanism 30 includes a tri-axial module 301 and a cutting head 302 offset disposed on the tri-axial module 301. In this embodiment, the cutting head 302 is fixed to a three-axis module, and the cutting head can move in a three-dimensional space under the driving of a motor. Optionally, the cutting head 302 is secured to the tri-axial module by a mounting plate. The mounting plate may be pre-fixed to the cutting head 302 or fixed to the tri-axial module. Preferably, the cutting head 302, mounting plate, and tri-axial module 301 are removably attached, and the three may be attached by fasteners. Additionally, the cutting head 302 is arranged on the three-axis module 301 in an offset manner, so that the cutting head can be ensured to extend into the pipe of the workpiece to be cut of the special-shaped pipe with the complex hollow surface/curved surface, and the cutting of the inner hole of the bent pipe of the workpiece to be cut is realized. When the cutting head is used specifically, different types of cutting heads can be selected according to different application occasions, so that different cutting purposes are achieved. Preferably, the cutting head is set as a laser cutting head, and the laser cutting has the advantages of high cutting precision, smooth cutting surface, high speed, good cutting quality and the like, so that the cutting precision and the cutting efficiency of the workpiece to be cut are further improved.

The gripper mechanism 40 includes an industrial six-axis robot 401 and a gripper assembly 402 provided on the industrial six-axis robot. In this embodiment, when the device works, the industrial six-axis robot 401 drives the clamping assembly 402 to clamp the workpiece to be cut from the feeding mechanism 20, and conveys the workpiece to the cutting area for cutting the workpiece, and the industrial six-axis robot 401 further improves flexibility of clamping the workpiece, thereby avoiding a phenomenon of a dead cutting angle when the workpiece to be cut is cut.

The cutting device that this embodiment provided, treat through fixture 40 and cut the work piece centre gripping and carry near cutting mechanism 30, cutting mechanism 30 treats and cuts the work piece and cuts, under fixture 40 and cutting mechanism 30's reasonable cooperation motion, has realized the automatic cutting of special-shaped pipe work piece to the cutting efficiency of complicated work piece has been improved. Further, the cutting mechanism 30 includes a triaxial cell set 301 and a cutting head 302 offset disposed on the triaxial cell set. The gripping mechanism 40 includes an industrial six-axis robot 401 and a gripping assembly 402 provided on the industrial six-axis robot 401. The cutting head 302 is arranged on the three-axis module 301 in an offset manner, and the industrial six-axis robot 401 drives the clamping assembly 402 to clamp a workpiece to be cut; the workpiece to be cut is cut under the common cooperation of the three-axis module of the cutting mechanism and the industrial six-axis robot of the clamping mechanism, so that the cutting precision of the complex workpiece is improved.

Further, referring to fig. 1, as a specific embodiment of the cutting device provided by the present invention, the cutting device further includes a feeding mechanism fixed on the base, and the feeding mechanism includes a conveying assembly and a positioning assembly disposed on the conveying assembly. In the embodiment, the feeding mechanism is used for conveying the workpiece to be cut, so that the automatic feeding of the workpiece to be cut is realized,

in one embodiment, the positioning assembly 202 clamps and fixes the workpiece to be cut to position the workpiece to be cut, so as to avoid the risk of displacement of the workpiece to be cut during the subsequent conveying process. And then the clamped and positioned workpiece to be cut is conveyed to the clamping area through the conveying assembly 201. When the clamping mechanism clamps each workpiece to be cut, the clamping position of the workpiece to be cut is fixed relative to the clamping mechanism, so that the accuracy of subsequently cutting the workpiece to be cut is improved. The clamping area refers to the area range of the clamping mechanism capable of clamping the workpiece to be cut on the positioning assembly. It will be appreciated that the specific location of the clamping area is determined by the relative position between the clamping mechanism and the feed mechanism. Illustratively, the clamping area may be an end of the transport assembly proximate the clamping mechanism.

Further, referring to fig. 2, as an embodiment of the cutting device provided by the present invention, the clamping assembly 402 includes a robot connecting plate 4021, a collision preventer 4022, and parallel gas claws 4023; the robot connecting plate 4021 is arranged on a sixth axis turntable of the industrial six-axis robot 401; one end of the anti-collision device 4022 is connected with the robot connecting plate 4021, and the other end of the anti-collision device 4022 is fixedly connected with the parallel air claw 4023 through an air claw mounting plate 4024; the parallel air claws 4023 are provided with hand grippers 4025, and the parallel air claws 4023 are used for driving the hand grippers 4025 to open or clamp. In this embodiment, the parallel gas claws 4023 are controlled by the solenoid valve to drive the grippers 4025 to perform opening and clamping operations, so as to correspondingly release and clamp the workpiece to be cut, thereby ensuring the stability of clamping the workpiece to be cut.

As can be understood, one end of the anti-collision device 4022 may be fixedly connected to the robot connecting plate 4021 through a cylindrical pin and a bolt, where the cylindrical pin is used to position the anti-collision device and the robot connecting plate, and the bolt is used to lock the positioned anti-collision device and the robot connecting plate. In this embodiment, the inside of the anti-collision device is filled with air, and when the workpiece to be cut held by the holding assembly 402 contacts with the cutting head 302, air leakage occurs immediately by the anti-collision device 4022, so that the anti-collision device 4022 contracts in the direction opposite to the direction of contact with the workpiece to be cut. Further, an alarm can be given after the anti-collision device leaks air, so that the condition that parts are damaged or the workpiece is damaged due to collision between the workpiece to be cut and the cutting head 302 is avoided.

Further, referring to fig. 3, as a specific embodiment of the cutting device provided by the present invention, the three-axis module 301 includes a second driving device 3014, and an X-axis module 3011, a Y-axis module 3012, and a Z-axis module 3013 that are disposed perpendicular to each other. The second driving device 3014 is configured to provide power for sliding motion among the X-axis module 3011, the Y-axis module 3012, and the Z-axis module 3013; the cutting head 302 is mounted off center of the Z-axis module 3013; the cutting head 302 is movable along the directions of the X-axis module 3011, the Y-axis module 3012, and the Z-axis module 3013.

It can be understood that the X-axis module 3011 includes an X-axis guide rail and an X-axis sliding plate slidably fixed on the X-axis guide rail; an L-shaped connecting plate is arranged on the X-axis sliding plate and is fixedly connected with the Y-axis module; the X-axis sliding plate is fixedly connected with the L-shaped connecting plate through a lead screw nut, and the bottom of the Y-axis module 3012 is locked on the L-shaped connecting plate through a bolt; the Y-axis module comprises a Y-axis guide rail and a Y-axis sliding plate which is fixed on the Y-axis guide rail in a sliding manner; the Z-axis module 3013 comprises a Z-axis guide rail and a Z-axis sliding plate fixed on the Z-axis guide rail in a sliding manner; the Z-axis guide rail is fixed on the Y-axis sliding plate in a sliding manner.

Preferably, the driving device 3014 may be a motor. The driving device comprises an X-axis driving device, an X-axis screw rod connected with the X-axis driving device, a Y-axis screw rod connected with the Y-axis driving device, a Z-axis driving device and a Z-axis screw rod connected with the Z-axis driving device. The X-axis driving device is fixed on the X-axis module 3011, the Y-axis driving device is fixed on the Y-axis module 3012, and the Z-axis driving device is fixed on the Z-axis module 3013. An X-axis driving device on the X-axis module 3011 drives an X-axis lead screw to enable the Y-axis sliding plate to reciprocate along the X-axis direction; a Y-axis driving device on the Y-axis module 3012 drives a Y-axis lead screw to enable the Y-axis sliding plate to move back and forth along the Y-axis direction; a Z-axis driving device on the Z-axis module 3013 drives a Z-axis lead screw to drive the laser head to move up and down along the Z-axis direction; thereby realizing the movement of the cutting head on the three-dimensional space of the X axis, the Y axis and the Z axis.

Further, referring to fig. 1 and 4, as an embodiment of the cutting device provided by the present invention, the conveying assembly 201 includes a feeding column 2011 fixed on the base 10, and a mounting seat 2012 disposed on the feeding column. A first guide rail 2013, a second guide rail 2014 and a first driving device 2015 are arranged on the mounting seat 2012; the first guide rail 2013 and the second guide rail 2014 are arranged in parallel, and the first driving device 2015 is used for driving the positioning assembly 202 to slide along the first guide rail 2013 and the second guide rail 2014. Preferably, the number of the feeding columns 2011 is at least two, and the feeding columns are vertically fixed on the base 10, so that the stability of the mounting seat 2012 on the feeding columns 2011 can be further ensured.

It is understood that the first driving device 2015 can be an air cylinder or an electric motor, and the first driving device 2015 can be located at any position of the mounting seat 2012. Preferably, the first driving device is located at the middle position between the first guide 2013 and the second guide 2014 and is arranged in parallel with the first guide 2013 and the second guide 2014, so that when the first driving device 2015 drives the positioning assembly 202 to slide along the first guide 2013 and the second guide 2014, the positioning assembly 202 moves along the first guide 2013 and the second guide 2014 stably, and the smoothness, accuracy and rapidity of the movement of the positioning assembly 202 in the horizontal plane are ensured.

Further, the positioning assembly 202 includes a stage 2021, a clamping positioning member 2022, a first sliding block 2023, and a second sliding block 2024. The clamping positioning element 2022 is disposed on the surface of the object stage 2021, and the first slider 2023 and the second slider 2024 are fixed on the bottom surface of the object stage 2021. The first slider 2023 is slidably connected to the first guide rail 2013, the second slider 2024 is slidably connected to the second guide rail 2014, and the number of the clamping positioning members 2022 is at least two.

Preferably, the first sliding block 2023 and the second sliding block 2024 are respectively provided in two numbers and are respectively fixed to the bottom surface of the stage 2021 by bolts, the first sliding blocks 2023 are slidably connected to the first guide rail 2013, and the second sliding blocks 2024 are slidably connected to the second guide rail 2014; the smoothness of the positioning assembly 202 sliding on the first guide 2013 and the first guide 2014 via the first slider 2023 and the second slider 2024 can be further improved.

Preferably, the clamping positioning devices 2022 are provided with an even number of pieces, and every two clamping positioning devices 2022 are oppositely arranged on the object stage 2021, so as to ensure that each workpiece to be cut is clamped and positioned by the oppositely arranged even number of clamping positioning devices 2022, thereby ensuring that each workpiece to be cut has a fixed positioning reference.

Further, referring to fig. 5, as an embodiment of the cutting device provided by the present invention, the clamping positioning element 2022 includes a pushing cylinder 20221, a floating joint 20222, a guide block 20223, a guide seat 20224, and a clamping pin 20225; the pushing cylinder 20221 is fixed on the objective table 2021, a piston rod of the pushing cylinder 20221 is connected to the floating joint 20222, one end of the guide block 20223 is fixedly connected to the floating joint 20222 through a connection block 20226, and the other end of the guide block 20223 passes through a hollow hole of the guide block 20224 and is fixedly connected to the positioning block 20227 on which the clamp pin 20225 is mounted. It can be understood that the pushing cylinder 20221 pushes the guide block 20223 to move along the guide seat 20224, so as to drive the clamping pin 20225 to clamp or expand the workpiece to be cut.

Further, the stage 2021 includes an upper plate and a lower plate, which are connected by two or more support blocks, and a gap is formed between the upper plate and the lower plate. The clamping positioning element 2022 is fixed to the lower plate of the stage 2021. The upper plate further includes at least one through hole. The clamping pin 20225 of the clamping positioning element 2022 protrudes from the upper plate through the through hole of the upper plate.

Further, referring to fig. 4, as a specific embodiment of the cutting device provided by the present invention, the feeding mechanism 20 further includes a limiting component 203; the limiting component 203 comprises a limiting block 2031 and an induction block 2032 matched with the limiting block 2031; the limiting block 2031 is fixed on the first guide rail 2013 and/or the second guide rail 2014; the sensing block 2032 is fixed on the stage 2021.

It is understood that the sensing block 2032 moves on the first guide rail 2013 and the second guide rail 2014 along with the object stage 2021, and when the sensing block 2032 moves to contact with the stopper 2031, the stopper 2031 restricts the sensing block 2032 and the object stage 2021 from moving further, so as to prevent the object stage 2021 from sliding off the first guide rail 2013 and the second guide rail 2014.

Further, the limiting block 2031 may be further connected to a controller, so that when the sensing block 2032 moves along with the object stage 2021 relative to the first guide rail 2013 and the second guide rail 2014, the limiting block 2031 sends a feedback signal to the controller, and the controller adjusts the movement state of the object stage 2021 according to the feedback signal to prevent the object stage 2021 from sliding off the first guide rail 2013 and the second guide rail 2014. It should be noted that, when the sensing block 2032 moves to the sensing area of the limiting block 2031, the limiting block 2031 switches states, so as to send a corresponding feedback signal to the controller, and the controller adjusts the motion state of the object stage 2021 according to the feedback signal, so as to prevent the object stage 2021 from moving forward when it may slide off the first guide rail 2013 and the second guide rail 2014.

Preferably, two limit blocks 2031 are provided, and one limit block is fixed at the front end of the first guide rail 2013; the other limiting block is fixed at the tail end of the first guide rail 2013; or, a limiting block is fixed at the front end of the second guide rail 2014; and the other limit block is fixed at the tail end of the second guide rail 2014. The sensing block 2032 is fixed to the stage 2021, and prevents the stage 2021 from moving forward if it can slide off the front or end positions of the first and second rails 2013 and 2014. Further, the number of the limiting blocks 2031 is four; respectively a first limiting block, a second limiting block, a third limiting block and a fourth limiting block. Specifically, a first limiting block is fixed at the front end of the first guide rail 2013, a second limiting block is fixed at the tail end of the first guide rail 2013, a third limiting block is fixed at the front end of the second guide rail 2014, and a fourth limiting block is fixed at the tail end of the second guide rail 2014. The number of the sensing blocks 2032 is two, one sensing block 2032 is fixed on one side of the object stage 2021, and the other sensing block 2032 is fixed on the other side of the object stage 2021, so that the object stage 2021 is prevented from moving forward under the condition that the object stage 2021 may slide off the front or end positions of the first guide rail 2013 and the second guide rail 2014, and the stability of the movement of the positioning assembly 202 is effectively improved.

Further, referring to fig. 1, as a specific embodiment of the cutting device provided by the present invention, the base includes a base and a gantry mounted on the base; the feeding mechanism is fixed on the base, the cutting mechanism is arranged on the portal frame in an inverted mode, the feeding mechanism and the cutting mechanism are located on the same side of the clamping mechanism, a discharge port of the feeding mechanism is close to the clamping mechanism, and the cutting mechanism is arranged above the clamping mechanism. In this embodiment, the feeding mechanism 20, the cutting mechanism 30 and the clamping mechanism 40 are reasonably arranged on the base 10, so as to facilitate the matching movement among the feeding mechanism 20, the clamping mechanism 40 and the cutting mechanism 30.

It is understood that the gantry 102 may be fixedly mounted to the base by means of fixing bolts. The gantry 102 includes a beam and two pillars, the upper ends of the two pillars are respectively connected to the beam, and the lower ends of the two pillars are respectively fixed to the base vertically, so that the beam is erected on the base through the two pillars.

Preferably, the bottom of the base 101 is further provided with an adjusting bolt, and the adjusting bolt fixes the base on the ground and can be used for adjusting the horizontal height of the base. The number of the adjusting bolts can be set according to actual needs. Furthermore, a waste material collecting box is arranged under the cutting mechanism and used for collecting waste materials generated when the workpiece to be cut is cut.

The invention also provides a cutting data generation method, which is applied to the cutting device in any embodiment. In a specific embodiment, the cutting device further comprises an overall control system, and the cutting data generation method is applied to the overall control system. Preferably, the overall control system comprises: data acquisition system, robot control ware and cutting control system. Wherein, the data acquisition system is used for gathering all cutting data. The robot controller is used for controlling the clamping mechanism to drive the workpiece to be cut to move and clamping and loosening the workpiece to be cut. And the cutting control system is used for controlling the cutting mechanism to cut the workpiece to be cut.

In this embodiment, the cutting data generation method includes the steps of:

and S10, acquiring the path track data of the workpiece to be cut.

The path track data refers to motion path track data when a workpiece to be cut is cut. It is understood that the path trajectory data of the workpiece to be cut also refers to the path data generated by the clamping mechanism to move the workpiece to be cut from one machining position to the next position to be machined. Optionally, the robot controller controls the clamping mechanism to clamp the workpiece to be cut for point-by-point tracing to form a clamping path programming of the workpiece to be cut. And then, programming a reasonable path track of the hole site by using a clamping path, thereby obtaining the path track data of the workpiece to be cut, and further improving the cutting efficiency of the workpiece to be cut.

And S11, simulating cutting head path data according to the path track data and the characteristic data of the workpiece to be cut to generate cutting head track data.

The characteristic data of the workpiece to be cut refers to data generated after data acquisition is carried out on the cutting position of the workpiece to be cut and the shape of the workpiece to be cut. Specifically, according to the path track data, a cutting head track is programmed by using a cutting control system, and then the cutting head track programming simulation is carried out according to the characteristic data of the workpiece to be cut, so that the cutting head track data is generated.

And S12, acquiring data of the cutting point of the workpiece to be cut according to the path track data and the cutting head track data, and generating cutting path data.

Specifically, the data acquisition system performs data acquisition on a cutting point on a curved surface of a three-dimensional space shape of the workpiece to be cut according to the path trajectory data and the cutting head trajectory data, thereby generating cutting path data. The cutting path data comprises the position of the workpiece to be cut clamped by the clamping mechanism to move to each point, the front and back sequence of each point and the position relation between the cutting head and each point.

And S13, debugging the cutting process parameters according to the cutting path data to generate cutting process parameter data.

Specifically, cutting process parameters are debugged according to the cutting path data to generate cutting process parameter data, and the cutting process parameter data are fed back to the cutting mechanism. In this step, the adjusting of the cutting process parameters according to the cutting path data refers to a process of adjusting the processing parameters of the mechanism to be cut and the movement speed of the clamping mechanism clamping the workpiece to be cut according to the cutting path data. By debugging the cutting process parameters, the problems of shaking, slag scraping or overlarge roundness deviation of a hole and the like when the cutting mechanism cuts a workpiece to be cut can be solved.

In the embodiment, the path track data of the workpiece to be cut is acquired; then, carrying out data acquisition on a cutting point of the workpiece to be cut according to the path track data and the cutting head track data to generate cutting path data; finally, debugging the cutting process parameters according to the cutting path data to generate cutting process parameter data; uniformly collecting path track data, cutting head track data and cutting path data into a master control system of the cutting device, and calling the debugged cutting process parameters; the automatic cutting of the workpiece to be cut can be completed after the start button is pressed, so that the efficiency of cutting the workpiece to be cut is further improved.

The invention also provides a cutting method, which is applied to the cutting device, and preferably applied to the cutting device in any one of the embodiments. The cutting method is used for carrying out automatic cutting through the cutting device in the embodiment.

In this embodiment, the cutting method includes the steps of:

and S21, the clamping mechanism clamps the workpiece to be cut according to the path track data and conveys the workpiece to be cut to a cutting area.

The cutting area refers to an area where the cutting mechanism can cut a workpiece to be cut. Specifically, the clamping mechanism comprises an industrial six-axis robot and a clamping assembly; according to the path track data, the industrial six-axis robot drives the clamping assembly to clamp the workpiece to be cut and conveys the workpiece to be cut to a cutting area. It should be noted that the path trajectory data is obtained by the cutting data generation method in the above embodiment.

And S22, the cutting mechanism cuts the workpiece to be cut in the cutting area according to the cutting path data and the cutting process parameter data.

Specifically, the cutting mechanism automatically cuts the workpiece to be cut in the cutting area according to the cutting path data and the cutting process parameter data. It should be noted that the cutting path data and the cutting process parameter data are obtained by the cutting data generation method in the above embodiment.

In the embodiment, the clamping mechanism clamps the workpiece to be cut according to the path track data and conveys the workpiece to be cut to a cutting area; the cutting mechanism cuts the workpiece to be cut in the cutting area according to the cutting path data and the cutting process parameter data; the special-shaped pipe cutting machine can realize efficient batch cutting production of the special-shaped pipe workpiece with the complex empty surface/curved surface, and solves the problems of low special-shaped pipe cutting efficiency and poor machining precision in the prior art.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (9)

1. A cutting device is characterized by comprising a base station, a cutting mechanism and a clamping mechanism, wherein the cutting mechanism and the clamping mechanism are arranged on the base station; the cutting mechanism comprises a three-axis module and a cutting head arranged on the three-axis module in an offset manner; the clamping mechanism comprises an industrial six-axis robot and a clamping assembly arranged on the industrial six-axis robot; cutting a workpiece to be cut under the common coordination of the three-axis module and the industrial six-axis robot;

the clamping assembly comprises a robot connecting plate, an anti-collision device and parallel gas claws; the robot connecting plate is arranged on a sixth-axis turntable of the industrial six-axis robot; one end of the anti-collision device is connected with the robot connecting plate, and the other end of the anti-collision device is fixedly connected with the parallel air claw through an air claw mounting plate; the parallel pneumatic claws are provided with grippers and used for driving the grippers to open or clamp;

the inside of anticollision ware has been filled with the air, works as the work piece of waiting to cut that the centre gripping subassembly was held with when the cutting head takes place the contact, gas leakage appears in the anticollision ware, makes anticollision ware toward with wait to cut the opposite direction shrink of work piece contact to avoid the cutting head collision to wait to cut the piece.

2. The cutting device of claim 1, further comprising a feed mechanism secured to the base, the feed mechanism including a delivery assembly and a positioning assembly disposed on the delivery assembly.

3. The cutting device of claim 1, wherein the three-axis module comprises a second driving device and an X-axis module, a Y-axis module and a Z-axis module which are arranged perpendicularly to each other; the second driving device is used for providing power for sliding motion among the X-axis module, the Y-axis module and the Z-axis module; the cutting head is arranged at a position deviating from the center of the Z-axis module; the cutting head moves along the X-axis module, the Y-axis module and the Z-axis module along the direction of the vertical movement part.

4. The cutting device of claim 2, wherein the conveyor assembly includes a loading column secured to the base, and a mounting seat disposed on the loading column; the mounting base is provided with a first guide rail, a second guide rail and a first driving device; the first guide rail and the second guide rail are arranged in parallel, and the first driving device is used for driving the positioning assembly to slide along the first guide rail and the second guide rail;

the positioning assembly comprises an object stage, a clamping positioning piece, a first sliding block and a second sliding block; the clamping positioning piece is arranged on the surface of the objective table, and the first sliding block and the second sliding block are fixed on the bottom surface of the objective table; the first sliding block is connected with the first guide rail in a sliding mode, the second sliding block is connected with the second guide rail in a sliding mode, and the number of the clamping positioning pieces is at least two.

5. The cutting device as claimed in claim 4, wherein the clamping and positioning means comprises a push cylinder, a floating joint, a guide block, a guide seat and a clamping pin; the push cylinder is fixed on the objective table, a piston rod of the push cylinder is connected with the floating joint, one end of the guide block is fixedly connected with the floating joint through a connecting block, and the other end of the guide block penetrates through a hollow hole of the guide seat and is fixedly connected with a positioning block provided with the clamping pin.

6. The cutting device of claim 5, wherein the feed mechanism further comprises a stop assembly; the limiting assembly comprises a limiting block and an induction block matched with the limiting block; the limiting block is fixed on the first guide rail and/or the second guide rail; the induction block is fixed on the objective table.

7. The cutting apparatus of claim 2, wherein the base station comprises a base and a gantry mounted on the base; the feeding mechanism is fixed on the base, the cutting mechanism is arranged on the portal frame in an inverted mode, the feeding mechanism and the cutting mechanism are located on the same side of the clamping mechanism, a discharge port of the feeding mechanism is close to the clamping mechanism, and the cutting mechanism is arranged above the clamping mechanism.

8. A cutting data generation method applied to the cutting device according to any one of claims 1 to 7, characterized by comprising:

acquiring path track data of a workpiece to be cut;

according to the path track data and the characteristic data of the workpiece to be cut, carrying out cutting head path data simulation to generate cutting head track data;

acquiring data of a cutting point of the workpiece to be cut according to the path track data and the cutting head track data to generate cutting path data;

and debugging cutting process parameters according to the cutting path data to generate cutting process parameter data.

9. A cutting method, applied to the cutting device according to any one of claims 1 to 7, comprising:

the clamping mechanism clamps a workpiece to be cut according to the path track data and conveys the workpiece to be cut to a cutting area;

and the cutting mechanism cuts the workpiece to be cut in the cutting area according to the cutting path data and the cutting process parameter data.

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