CN110091086B - Dual-purpose optical fiber laser cutting robot for double-platform plate pipe - Google Patents
Dual-purpose optical fiber laser cutting robot for double-platform plate pipe Download PDFInfo
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- CN110091086B CN110091086B CN201910464980.3A CN201910464980A CN110091086B CN 110091086 B CN110091086 B CN 110091086B CN 201910464980 A CN201910464980 A CN 201910464980A CN 110091086 B CN110091086 B CN 110091086B
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- 238000003698 laser cutting Methods 0.000 title claims abstract description 58
- 239000013307 optical fiber Substances 0.000 title claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 230000009975 flexible effect Effects 0.000 claims description 15
- 230000005571 horizontal transmission Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 239000000835 fiber Substances 0.000 claims 2
- 238000000034 method Methods 0.000 abstract description 4
- 238000005520 cutting process Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- QNRATNLHPGXHMA-XZHTYLCXSA-N (r)-(6-ethoxyquinolin-4-yl)-[(2s,4s,5r)-5-ethyl-1-azabicyclo[2.2.2]octan-2-yl]methanol;hydrochloride Chemical compound Cl.C([C@H]([C@H](C1)CC)C2)CN1[C@@H]2[C@H](O)C1=CC=NC2=CC=C(OCC)C=C21 QNRATNLHPGXHMA-XZHTYLCXSA-N 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000012768 molten material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a dual-purpose optical fiber laser cutting robot for double-platform plate pipes.A plurality of dual-purpose plate pipe gripper pairs are arranged in front of a laser cutting head, one dual-purpose plate pipe gripper pair can clamp a pipe, and a plurality of dual-purpose plate pipe gripper pairs are matched with each other to clamp a plate; the upper and lower telescopic driving bodies drive the two corresponding plate-pipe dual-purpose grippers to relatively move up and down in a telescopic manner, so that the two plate-pipe dual-purpose grippers in the plate-pipe dual-purpose grippers clamp different parts of the pipe; the left and right telescopic driving bodies drive the two adjacent upper and lower telescopic driving bodies to realize relative left and right telescopic motion, so that the plate and pipe dual-purpose gripper clamps different parts of the plate. The invention utilizes the processing mode of layering from front to back and gradually advancing backwards, can process all parts on the surface of the plate or the pipe facing to the mechanical arm laser cutting robot, has high processing precision, realizes asynchronous plate and pipe vertical clamping laser cutting on a whole machine, and has good applicability.
Description
Technical Field
The invention relates to the technical field of dual-purpose optical fiber laser cutting equipment for double-platform plates and tubes, in particular to a dual-purpose optical fiber laser cutting robot for double-platform plates and tubes.
Background
Laser cutting is to irradiate a workpiece with a focused high-power-density laser beam to quickly melt, vaporize and ablate the irradiated material or reach a burning point, and simultaneously blow off the molten material by means of a high-speed airflow coaxial with the beam, thereby realizing the cutting of the workpiece. The optical fiber laser cutting technology is developed day by day, the company conducts stretching research aiming at the technology, and finds that when the existing optical fiber laser cutting machine is used for plate and pipe, one type of the mechanical arm with the laser cutting head conducts laser cutting processing on a horizontally placed plate or pipe, and the other type of the mechanical arm with the laser cutting head can asynchronously move to the position above the horizontally placed plate to conduct laser cutting and the position above the horizontally placed pipe to conduct laser cutting.
The technicians of my company find that the following two problems are mainly found: firstly, because of adopting a flat placement mode, the occupied area is large, and the factory space is easily wasted; secondly, because panel and tubular product are all placed horizontally, to the part of the panel arch behind the panel beating or indent, perhaps the tubular product after bending, great cantilever removal need be done to the laser cutting head, because remove and produce great error with great cantilever form easily, the degree of accuracy of cutting process position has been influenced, the cutting process precision has been influenced, and if with the vertical clamping of panel and tubular product, then can make the laser cutting head do the less laser cutting action of range on vertical face, can effectively improve the cutting process precision.
Disclosure of Invention
Aiming at the existing problems, the invention provides a dual-purpose optical fiber laser cutting robot for a double-platform plate tube, which is characterized in that on the basis of the existing mechanical arm laser cutting robot technology, a structure comprising a dual-purpose gripper pair for the plate tube, an upper telescopic driving body, a lower telescopic driving body, a left telescopic driving body, a right telescopic driving body and a rack is adopted, all parts on the surface of a plate or a pipe facing the mechanical arm laser cutting robot can be processed by utilizing a processing mode of gradually advancing backwards in a front-back layering mode, the processing precision is high, the vertical clamping laser cutting of the dual-purpose plate tube for the double-platform plate tube is realized on a whole machine, the applicability is good, the structure is compact, and the occupied area is greatly reduced.
The technical scheme of the invention is as follows:
the invention provides a dual-purpose optical fiber laser cutting robot for double-platform plate pipes, which comprises a laser cutting head and a mechanical arm, wherein the laser cutting head is arranged at the cantilever end of the mechanical arm;
the plate-pipe dual-purpose gripper pair comprises two plate-pipe dual-purpose grippers which are arranged one above the other and one below the other, an up-and-down telescopic driving body is arranged at the rear end of the plate-pipe dual-purpose gripper pair, and the up-and-down telescopic driving body drives the two corresponding plate-pipe dual-purpose grippers in the plate-pipe dual-purpose gripper pair to relatively move up and down in a telescopic manner, so that the two plate-pipe dual-purpose grippers in the plate-pipe dual-purpose gripper pair clamp different parts of a pipe;
the upper telescopic driving bodies and the lower telescopic driving bodies are arranged on the left telescopic driving bodies and the right telescopic driving bodies, the left telescopic driving bodies and the right telescopic driving bodies are arranged on the rack, so that the adjacent upper telescopic driving bodies and the lower telescopic driving bodies realize relative left and right telescopic motion, and different plate and pipe dual-purpose grippers can grip different parts of a vertical plate extending left and right.
Further, the up-down telescopic driving body comprises an upper cantilever rod, a lower cantilever rod, a slide rail, a vertical connecting rod, a vertical driving motor and a vertical lead screw, the rear ends of two plate-pipe dual-purpose grippers, namely one of the plate-pipe dual-purpose grippers, are respectively and fixedly provided with the upper cantilever rod and the lower cantilever rod, the upper cantilever rod and the lower cantilever rod respectively extend backwards and horizontally, the rear ends of the upper cantilever rod and the lower cantilever rod are provided with the vertical connecting rod, the front end surface of the vertical connecting rod is fixedly provided with the slide rail which extends vertically, the lower end of the slide rail abuts against the rear end of the lower cantilever rod, the rear end of the lower cantilever rod is fixedly arranged on the vertical connecting rod, and the rear end of the upper cantilever rod is embedded on the;
the lower side middle part of cantilever bar is equipped with vertical motor cabinet down, be equipped with the vertical driving motor of main shaft up on the vertical motor cabinet, vertical driving motor's upper end main shaft is connected with vertical lead screw, vertical lead screw is vertical upwards extends and runs through cantilever bar and last cantilever bar down in proper order, vertical lead screw and last cantilever bar threaded connection are in the same place for vertical driving motor reciprocates along the slide rail through the cantilever on the vertical lead screw drive, makes and accomplishes flexible action from top to bottom between last cantilever bar and the lower cantilever bar.
Furthermore, the left and right telescopic driving bodies comprise vertical connecting rods, upper polish bars, upper sliding blocks, lower sliding blocks, horizontal driving motors and horizontal transmission screw rods, the upper ends of the vertical connecting rods are fixedly provided with the upper sliding blocks horizontally extending back and forth, the upper ends of the vertical screw rods are correspondingly hinged to the upper sliding blocks, and the upper sliding blocks are penetrated by the two upper polish bars which are parallel to each other and horizontally extending left and right;
the fixed lower sliding block that is provided with of lower extreme of vertical connecting rod, a plurality of the horizontal drive lead screw that the lower sliding block extends by two levels of being parallel to each other and controlling runs through, horizontal drive lead screw and a plurality of lower sliding block intermittent type threaded connection are in the same place, make adjacent two in the lower sliding block one runs through by horizontal drive lead screw, and another runs through and threaded connection is in the same place by horizontal drive lead screw, horizontal drive motor is connected with horizontal drive motor at the left end of horizontal drive lead screw, horizontal drive motor moves about through horizontal drive lead screw drive and horizontal drive lead screw threaded connection's lower sliding block for form relative flexible action between the lower sliding block with horizontal drive lead screw threaded connection and the lower sliding block that only runs through by horizontal drive lead screw, also make relative flexible between two adjacent upper and lower flexible drivers.
Furthermore, the rack comprises an upper connecting frame, a front supporting rod, a base and a rear supporting rod, wherein the upper connecting frame is positioned right above the base, and the front supporting rod and the rear supporting rod are respectively arranged on the front side and the rear side between the upper connecting frame and the base, so that a box frame type structure is formed.
Further, the horizontal driving motor is arranged on the left side of the base through a side motor base, and the left end and the right end of the upper polish rod are respectively fixed in the upper connecting frame.
Furthermore, only by horizontal drive lead screw runs through both ends are fixed respectively on the base around the lower sliding block, are in to be fixed on the base directly over the lower sliding block both ends are fixed respectively around the upper sliding block and are set up in the upper junction box.
Further, the plate-pipe dual-purpose gripper comprises a sheathing frame, a telescopic transmission lead screw, a front hinging block, a telescopic driving plate, a front connecting plate, a plate clamping block, a connecting bolt, a clamping plate notch, a first hinging rod, a horizontal connecting plate, a second hinging rod, a rear hinging block, a telescopic driving motor and a right-angle reducer, wherein the horizontal connecting plate is vertically placed and extends forwards and backwards, the sheathing frame is fixedly arranged on the right side of the rear end of the horizontal connecting plate, the telescopic driving motor and the right-angle reducer are arranged on one left side and one right side in the sheathing frame, the front end of the right-angle reducer is connected with the telescopic transmission lead screw, the telescopic transmission lead screw horizontally extends forwards and is hinged with the front connecting plate, the front connecting plate is vertically placed, and the left end of the front connecting plate is fixedly arranged at;
a guide long hole penetrates through the middle of the horizontal connecting plate from left to right, a connecting bolt is embedded into the guide long hole from left to right, the end part of the connecting bolt extending out of the guide long hole from right is nested and is in threaded connection with a telescopic driving plate, and the right end of the telescopic driving plate is nested and is in threaded connection with a telescopic transmission lead screw;
the relative terminal surface middle part of flexible drive plate and registrate frame is fixed respectively and is provided with preceding articulated piece and the articulated piece in back, it has the articulated frame of rhombus to articulate between preceding articulated piece and the articulated piece in back, the vertical centre gripping tubular product of the articulated frame of rhombus just adapts to the thickness of the centre gripping tubular product that can the ability through the distance of the relative registrate frame of flexible drive screw drive flexible drive plate.
Furthermore, the diamond-shaped hinged frame comprises a first hinged rod and a second hinged rod, wherein the end part of the first hinged rod, which is close to the rear hinged block, is hinged to the rear hinged block together, the end part of the first hinged rod, which is far away from the rear hinged block, is hinged to the second hinged rod respectively, and the end part of the second hinged rod, which is close to the front hinged block, is hinged to the front hinged block together.
Furthermore, the plate and tube dual-purpose gripper is fixedly provided with a plate clamping block at the opposite end parts of the two horizontal connecting plates, and the end parts, far away from the horizontal connecting plates, of the plate clamping block are sequentially provided with a plurality of clamping plate openings which are sequentially reduced from front to back so as to adapt to plates with different thicknesses.
Furthermore, the same size of the clamping plate openings centered by the same plate and tube dual-purpose gripper are respectively clamped on the upper side and the lower side of the plate, and the same size of the clamping plate openings centered by the different plate and tube dual-purpose grippers are respectively clamped on different positions on the left and right dimensions of the plate.
Due to the adoption of the technology, compared with the prior art, the invention has the following specific positive beneficial effects:
1. on the basis of the existing mechanical arm laser cutting robot technology, the invention adopts a structure comprising a plate-pipe dual-purpose gripper pair, an upper telescopic driving body, a lower telescopic driving body, a left telescopic driving body, a right telescopic driving body and a rack, the plate-pipe dual-purpose gripper pair can vertically grip a pipe, the pipe is processed according to the processing sequence that front and back vertical surfaces are gradually layered backwards, and the processing precision is high.
2. According to the invention, the upper and lower telescopic driving bodies are matched with the two plate-pipe dual-purpose grippers for centering, so that the movement of the clamping part of the clamped pipe can be realized, the mechanical arm laser cutting robot can conveniently process all parts of the surface of the pipe, facing the mechanical arm laser cutting robot, without processing dead angles.
3. According to the invention, a plurality of plate-pipe dual-purpose grippers are utilized to vertically clamp a plate, the pipe is processed according to the processing sequence that the front vertical surface and the rear vertical surface are gradually layered backwards, and the processing precision is high.
4. According to the invention, the upper and lower telescopic driving bodies are matched with the left and right telescopic driving bodies, so that the movement of the clamping part of the clamped plate can be realized, the laser cutting robot of the mechanical arm can conveniently process all parts on the surface of the laser cutting robot of the mechanical arm, which faces the plate, and no processing dead angle exists.
5. The invention realizes the vertical clamping laser cutting of the dual-purpose plate pipe of the double-platform plate pipe on one whole machine, has good applicability and compact structure and greatly reduces the occupied area.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the dual purpose gripper for sheet and tube in the present invention.
In the figure: 1-upper connecting frame, 2-upper polished rod, 3-upper sliding block, 4-front supporting rod, 5-vertical screw rod, 6-upper cantilever rod, 7-plate-pipe dual-purpose gripper, 8-laser cutting head, 9-mechanical arm, 10-base, 11-lower sliding block, 12-vertical motor base, 13-vertical driving motor, 14-side motor base, 15-horizontal driving motor, 16-horizontal driving screw rod, 17-lower cantilever rod, 18-sliding rail, 19-rear supporting rod, 701-nesting frame, 702-telescoping driving screw rod, 703-front hinging block, 704-telescoping driving plate, 705-front connecting plate, 706-plate clamping block, 707-connecting bolt, 708-clamping plate notch, 709-first hinging rod, 710-horizontal connecting plate, 711-second hinge rod, 712-rear hinge block, 713-telescopic driving motor and 714-right-angle reducer.
Detailed Description
The prior art is as follows:
the other is a machine tool type laser cutting machine, wherein the laser cutting head 8 can move asynchronously to the position above the horizontally placed plate to perform laser cutting and the position above the horizontally placed pipe to perform laser cutting.
The first embodiment is as follows:
as shown in the attached drawings 1-2, the invention provides a dual-purpose optical fiber laser cutting robot for double-platform plate pipes, which comprises a laser cutting head 8 and a mechanical arm 9, wherein the laser cutting head 8 is arranged at the cantilever end of the mechanical arm 9, a plurality of pairs of dual-purpose plate pipe grippers 7 are arranged in front of the laser cutting head 8, one pair of dual-purpose plate pipe grippers 7 can clamp a vertically extending pipe, and a plurality of pairs of dual-purpose plate pipe grippers 7 are matched with each other to clamp a vertically extending vertical plate;
the plate-pipe dual-purpose hand grip 7 pair comprises two plate-pipe dual-purpose hand grips 7 which are arranged one above the other and one below the other, the rear ends of the plate-pipe dual-purpose hand grips 7 are provided with upper and lower telescopic driving bodies, and the upper and lower telescopic driving bodies drive the two plate-pipe dual-purpose hand grips 7 in the corresponding plate-pipe dual-purpose hand grips 7 to relatively move up and down in a telescopic manner, so that the two plate-pipe dual-purpose hand grips 7 in the plate-pipe dual-purpose hand grips 7 clamp different parts of the;
the plurality of up-down telescopic driving bodies are arranged on the left-right telescopic driving body, the left-right telescopic driving body is arranged on the rack, so that the two adjacent up-down telescopic driving bodies realize relative left-right telescopic motion, and the plate-pipe dual-purpose gripper 7 can grip different parts of a vertical plate extending left and right.
The vertical telescopic driving body comprises an upper cantilever rod 6, a lower cantilever rod 17, a sliding rail 18, vertical connecting rods, a vertical driving motor 13 and a vertical screw rod 5, wherein the plate-pipe dual-purpose gripper 7 is used for aligning the rear ends of two plate-pipe dual-purpose grippers 7 which are arranged one above the other and are respectively and fixedly provided with the upper cantilever rod 6 and the lower cantilever rod 17, the upper cantilever rod 6 and the lower cantilever rod 17 respectively extend horizontally and backwards, the rear ends of the upper cantilever rod 6 and the lower cantilever rod 17 are provided with the vertical connecting rods, the front end surface of each vertical connecting rod is fixedly provided with the sliding rail 18 which extends vertically, the lower end of each sliding rail 18 abuts against the rear end of each lower cantilever rod 17, the rear end of each lower cantilever rod 17 is fixedly arranged on the corresponding vertical connecting rod, and the rear end of the;
the downside middle part of cantilever bar 17 is equipped with vertical motor cabinet 12 down, be equipped with the vertical driving motor 13 of main shaft up on the vertical motor cabinet 12, the upper end main shaft of vertical driving motor 13 is connected with vertical lead screw 5, vertical upwards extension of vertical lead screw 5 just runs through cantilever bar 17 and last cantilever bar 6 down in proper order, vertical lead screw 5 is in the same place with last cantilever bar 6 threaded connection, make vertical driving motor 13 reciprocate along slide rail 18 through the last cantilever of vertical lead screw 5 drive, make and accomplish flexible action from top to bottom between last cantilever bar 6 and the lower cantilever bar 17.
The structure of the left and right telescopic driving body comprises a vertical connecting rod, an upper polish rod 2, an upper sliding block 3, a lower sliding block 11, a horizontal driving motor 15 and a horizontal transmission screw rod 16, wherein the upper end of the vertical connecting rod is fixedly provided with the upper sliding block 3 horizontally extending front and back, the upper end of the vertical screw rod 5 is correspondingly hinged on the upper sliding block 3, and the upper sliding blocks 3 are penetrated by the two upper polish rods 2 which are parallel to each other and horizontally extending left and right;
the lower end of the vertical connecting rod is fixedly provided with a lower sliding block 11, a plurality of lower sliding blocks 11 are penetrated by two horizontal transmission screw rods 16 which are parallel to each other and horizontally extend from left to right, the horizontal transmission screw rods 16 are intermittently and threadedly connected with the plurality of lower sliding blocks 11, one of the two adjacent lower sliding blocks 11 is penetrated by a horizontal transmission screw rod 16, the other one is penetrated by the horizontal transmission screw rod 16 and is connected together by screw thread, the left end of the horizontal transmission screw rod 16 is connected with a horizontal driving motor 15, the horizontal driving motor 15 drives the lower sliding block 11 which is connected with the horizontal transmission screw rod 16 by screw thread to move left and right through the horizontal transmission screw rod 16, so that the lower sliding block 11 in threaded connection with the horizontal transmission screw 16 and the lower sliding block 11 only penetrated by the horizontal transmission screw 16 form relative telescopic action, and the two adjacent upper and lower telescopic drivers are relatively telescopic.
Wherein, to the concrete structure of frame, including last splice box 1, preceding bracing piece 4, base 10 and back bracing piece 19, go up splice box 1 and be in under base 10 and both sides around between the two are equipped with preceding bracing piece 4 and back bracing piece 19 respectively, form a box-and-box structure, horizontal drive motor 15 establishes the left side at base 10 through side motor cabinet 14, go up both ends and fix respectively in last splice box 1 about polish rod 2, only fix respectively on base 10 by the front and back both ends of the lower sliding block 11 that horizontal drive lead screw 16 runs through, both ends are fixed respectively around being in the last splice box 3 that is in under the lower sliding block 11 of fixing on base 10 and are set up respectively in last splice box 1.
The plate-pipe dual-purpose gripper 7 comprises a sheathing frame 701, a telescopic transmission screw 702, a front hinging block 703, a telescopic driving plate 704, a front connecting plate 705, a plate clamping block 706, a connecting bolt 707, a clamping plate notch 708, a first hinging rod 709, a horizontal connecting plate 710, a second hinging rod 711, a rear hinging block 712, a telescopic driving motor 713 and a right-angle reducer 714, wherein the horizontal connecting plate 710 is vertically placed and extends forwards and backwards, the sheathing frame 701 is fixedly arranged on the right side of the rear end of the horizontal connecting plate 710, the telescopic driving motor 713 and the right-angle reducer 714 are arranged on one left side and one right side in the sheathing frame 701, the front end of the right-angle reducer 714 is connected with the telescopic transmission screw 702, the telescopic transmission screw 702 horizontally extends forwards and the front end is hinged with the front connecting plate 705, and the front connecting plate 705 is vertically placed and the left end is fixedly arranged at the front end of;
a guide long hole penetrates through the middle of the horizontal connecting plate 710 from left to right, a connecting bolt 707 is embedded into the guide long hole from left to right, the end part of the connecting bolt 707 extending out of the guide long hole from right is nested and is in threaded connection with a telescopic driving plate 704, and the right end of the telescopic driving plate 704 is nested and is in threaded connection with a telescopic driving screw 702;
and aiming at the structure for clamping the pipe: the middle parts of the opposite end surfaces of the telescopic driving plate 704 and the nesting frame 701 are respectively and fixedly provided with a front hinge block 703 and a rear hinge block 712, a rhombic hinge frame is hinged between the front hinge block 703 and the rear hinge block 712, the rhombic hinge frame vertically clamps a pipe and drives the telescopic driving plate 704 to be close to the nesting frame 701 through a telescopic transmission screw 702 so as to adapt to the thickness of the pipe which can be clamped; the diamond-shaped hinged frame comprises first hinged rods 711 and second hinged rods 709, the ends, close to the rear hinged block 712, of the two first hinged rods 711 are hinged to the rear hinged block 712 together, the ends, far away from the rear hinged block 712, of the two first hinged rods 711 are hinged to the second hinged rods 709 respectively, and the ends, close to the front hinged block 703, of the two second hinged rods 709 are hinged to the front hinged block 703 together.
And aiming at the structure for clamping the plate: the plate and pipe dual-purpose hand grip 7 is fixedly provided with a plate clamping block 706 at the opposite end parts of two horizontal connecting plates 710 in centering, the end parts of the plate clamping block 706 far away from the horizontal connecting plates 710 are sequentially provided with a plurality of clamping plate notches 708 which become smaller in sequence from front to back so as to adapt to plates with different thicknesses, the clamping plate notches 708 with the same size in centering of the same plate and pipe dual-purpose hand grip 7 are respectively clamped at the upper side and the lower side of the plate, and the clamping plate notches 708 with the same size in centering of different plate and pipe dual-purpose hand grips 7 are respectively clamped at different positions on the left.
When the pipe is processed, processing parameters such as the length of the pipe to be processed are input into the controller, the vertical driving motor 13 is controlled to be started, the vertical driving motor 13 drives the upper cantilever rod 6 to rise to the highest point of the vertical screw rod 5 through the vertical screw rod 5, the distance between the upper cantilever rod 6 and the lower cantilever rod 17 is expanded to the maximum, so that the upper end and the lower end of the pipe are conveniently embedded into the diamond-shaped hinged frame, then the pipe to be processed is embedded into the diamond-shaped hinged frame on the lower cantilever rod 17 manually or by using a manipulator, the lower end of the pipe is aligned with the lower end of the diamond-shaped hinged frame, then the vertical driving motor 13 is controlled to be started, the vertical driving motor 13 drives the upper cantilever rod 6 to move downwards through the vertical screw rod 5 for a certain distance, the upper cantilever rod 6 is clamped at the upper end of the pipe, and then the mechanical arm 9 and the optical fiber laser cutting, the method comprises the steps of cutting the opposite surface of a pipe according to processing parameters, if the clamped part is required to be cut, for example, the clamped part on an upper cantilever rod 6, loosening a plate and pipe dual-purpose gripper 7 on a lower cantilever rod 17, controlling a vertical driving motor 13 to start, enabling the plate and pipe dual-purpose gripper 7 on the upper cantilever rod 6 to drive the pipe to move downwards for a certain distance, then clamping the pipe by utilizing the plate and pipe dual-purpose gripper 7 on the lower cantilever rod 17, finally loosening the plate and pipe dual-purpose gripper 7 on the upper cantilever rod 6, controlling the vertical driving motor 13 to start, enabling the plate and pipe dual-purpose gripper 7 on the upper cantilever rod 6 to move downwards for a certain distance along the pipe, then clamping the pipe, exposing the plate and pipe dual-purpose gripper 7 on the upper cantilever rod 6 from the original pipe clamping part, and controlling a mechanical arm 9 to cut by utilizing an optical fiber laser cutting head 8.
When a plate is processed, processing parameters such as the length of the plate to be processed are input into the controller, the vertical driving motor 13 is controlled to be started, the vertical driving motor 13 drives the upper cantilever rod 6 to rise to the highest point of the vertical screw rod 5 through the vertical screw rod 5, the distance between the upper cantilever rod 6 and the lower cantilever rod 17 is expanded to the maximum, the plate is sucked by a manual or mechanical arm 9, the lower end of the plate is embedded into a clamping plate notch 708 corresponding to the thickness of the plate and tube dual-purpose gripper 7 on the lower cantilever rod 17, then the vertical driving motor 13 is controlled to be started, the plate and tube dual-purpose gripper 7 on the upper cantilever rod 6 moves downwards for a certain distance, the clamping plate notch 708 of the plate and tube dual-purpose gripper 7 on the upper cantilever rod 6 is clamped at the upper end of the plate, the clamping and fastening of the plate are completed, and if a clamped part, such as the leftmost clamped part of the plate, firstly, controlling a vertical driving motor 13 to move a cantilever rod in an upper and lower telescopic driving body fixed on a base 10 upwards, loosening a press clamp of a plate, then controlling a horizontal driving motor 15 to drive a leftmost upper and lower telescopic driving body through a horizontal transmission screw 16, moving the leftmost upper and lower telescopic driving body relatively to the right, then controlling the vertical driving motor 13 to move an upper cantilever rod 6 in the upper and lower telescopic driving body fixed on the base 10 downwards, completing the press clamp of the plate, finally loosening the press clamp of the movable upper and lower telescopic driving bodies on the plate, controlling the horizontal driving motor 15 to drive the movable upper and lower telescopic driving bodies to move back to the original position leftwards, exposing the original clamped part of the leftmost plate, and controlling a mechanical arm 9 to cut by using an optical fiber laser cutting head 8.
It should be noted that the above device also has the problem that the machined surface of the pipe cannot rotate singly, which will be further improved later.
Claims (10)
1. The utility model provides a dual-purpose optic fibre laser cutting robot of two platform board pipes, includes laser cutting head and arm, the laser cutting head sets up the cantilever end at the arm, its characterized in that: the laser cutting head is characterized in that a plurality of plate-pipe dual-purpose gripper pairs are arranged in front of the laser cutting head, one plate-pipe dual-purpose gripper pair can clamp a vertically extending pipe, and a plurality of plate-pipe dual-purpose gripper pairs are matched with each other to clamp a horizontally extending vertical plate;
the plate-pipe dual-purpose gripper pair comprises two plate-pipe dual-purpose grippers which are arranged one above the other and one below the other, the rear end of the plate-pipe dual-purpose gripper pair is provided with an up-down telescopic driving body, and the up-down telescopic driving body drives the two plate-pipe dual-purpose grippers of the corresponding plate-pipe dual-purpose gripper pair to perform relative up-down telescopic motion, so that the two plate-pipe dual-purpose grippers of the plate-pipe dual-purpose gripper pair clamp different parts of a pipe;
the upper telescopic driving bodies and the lower telescopic driving bodies are arranged on the left telescopic driving bodies and the right telescopic driving bodies, the left telescopic driving bodies and the right telescopic driving bodies are arranged on the rack, so that the adjacent upper telescopic driving bodies and the lower telescopic driving bodies realize relative left and right telescopic motion, and different plate and pipe dual-purpose grippers can grip different parts of a vertical plate extending left and right.
2. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 1, wherein: the upper and lower telescopic driving bodies comprise upper cantilever rods, lower cantilever rods, slide rails, vertical connecting rods, vertical driving motors and vertical lead screws, the plate-pipe dual-purpose grippers are used for aligning the rear ends of two plate-pipe dual-purpose grippers, namely one upper plate-pipe dual-purpose gripper and one lower plate-pipe dual-purpose gripper, the upper cantilever rods and the lower cantilever rods respectively extend horizontally and backwards, the vertical connecting rods are arranged at the rear ends of the upper cantilever rods and the lower cantilever rods, the slide rails which extend vertically are fixedly arranged on the front end faces of the vertical connecting rods, the lower ends of the slide rails abut against the rear ends of the lower cantilever rods, the rear ends of the lower cantilever rods are fixedly arranged on the vertical connecting rods, and the rear ends of the upper cantilever rods are embedded on;
the lower side middle part of cantilever bar is equipped with vertical motor cabinet down, be equipped with the vertical driving motor of main shaft up on the vertical motor cabinet, vertical driving motor's upper end main shaft is connected with vertical lead screw, vertical lead screw is vertical upwards extends and runs through cantilever bar and last cantilever bar down in proper order, vertical lead screw and last cantilever bar threaded connection are in the same place for vertical driving motor reciprocates along the slide rail through the cantilever on the vertical lead screw drive, makes and accomplishes flexible action from top to bottom between last cantilever bar and the lower cantilever bar.
3. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 2, wherein: the left and right telescopic driving bodies comprise vertical connecting rods, upper polish rods, upper sliding blocks, lower sliding blocks, horizontal driving motors and horizontal transmission lead screws, the upper ends of the vertical connecting rods are fixedly provided with the upper sliding blocks horizontally extending back and forth, the upper ends of the vertical lead screws are correspondingly hinged to the upper sliding blocks, and the upper sliding blocks are penetrated by the two upper polish rods which are parallel to each other and horizontally extending left and right;
the fixed lower sliding block that is provided with of lower extreme of vertical connecting rod, a plurality of the horizontal drive lead screw that the lower sliding block extends by two levels of being parallel to each other and controlling runs through, horizontal drive lead screw and a plurality of lower sliding block intermittent type threaded connection are in the same place, make adjacent two in the lower sliding block one runs through by horizontal drive lead screw, and another runs through and threaded connection is in the same place by horizontal drive lead screw, horizontal drive motor is connected with horizontal drive motor at the left end of horizontal drive lead screw, horizontal drive motor moves about through horizontal drive lead screw drive and horizontal drive lead screw threaded connection's lower sliding block for form relative flexible action between the lower sliding block with horizontal drive lead screw threaded connection and the lower sliding block that only runs through by horizontal drive lead screw, also make relative flexible between two adjacent upper and lower flexible drivers.
4. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 3, wherein: the rack comprises an upper connecting frame, a front supporting rod, a base and a rear supporting rod, wherein the upper connecting frame is positioned right above the base, and the front side and the rear side between the upper connecting frame and the base are respectively provided with the front supporting rod and the rear supporting rod to form a box frame type structure.
5. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 4, wherein: the horizontal driving motor is arranged on the left side of the base through a side motor base, and the left end and the right end of the upper polish rod are respectively fixed in the upper connecting frame.
6. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 5, wherein: and only the front end and the rear end of the lower sliding block, which are penetrated through by the horizontal transmission screw rod, are respectively and fixedly arranged on the base, and the front end and the rear end of the upper sliding block, which are positioned right above the lower sliding block, on the base are respectively and fixedly arranged in the upper connecting frame.
7. A dual-purpose fiber laser cutting robot for dual-platform plate pipes according to any one of claims 1 to 6, characterized in that: the plate-pipe dual-purpose gripper comprises a sheathing frame, a telescopic transmission screw rod, a front hinging block, a telescopic driving plate, a front connecting plate, a plate clamping block, a connecting bolt, a clamping plate notch, a first hinging rod, a horizontal connecting plate, a second hinging rod, a rear hinging block, a telescopic driving motor and a right-angle reducer, wherein the horizontal connecting plate is vertically placed and extends forwards and backwards;
a guide long hole penetrates through the middle of the horizontal connecting plate from left to right, a connecting bolt is embedded into the guide long hole from left to right, the end part of the connecting bolt extending out of the guide long hole from right is nested and is in threaded connection with a telescopic driving plate, and the right end of the telescopic driving plate is nested and is in threaded connection with a telescopic transmission lead screw;
the relative terminal surface middle part of flexible drive plate and registrate frame is fixed respectively and is provided with preceding articulated piece and the articulated piece in back, it has the articulated frame of rhombus to articulate between preceding articulated piece and the articulated piece in back, the vertical centre gripping tubular product of the articulated frame of rhombus just adapts to the thickness of the centre gripping tubular product that can the ability through the distance of the relative registrate frame of flexible drive screw drive flexible drive plate.
8. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 7, wherein: the diamond-shaped hinged frame comprises a first hinged rod and a second hinged rod, wherein the end part of the first hinged rod, which is close to the rear hinged block, is hinged to the rear hinged block together, and the end part of the first hinged rod, which is far away from the rear hinged block, is hinged to the second hinged rod respectively, and the end part of the second hinged rod, which is close to the front hinged block, is hinged to the front hinged block together.
9. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 8, wherein: the plate-pipe dual-purpose gripper is characterized in that plate-clamping blocks are fixedly arranged at the opposite end parts of the two horizontal connecting plates, and a plurality of sequentially-reduced clamping plate openings are sequentially arranged at the end parts, far away from the horizontal connecting plates, of the plate-clamping blocks from front to back so as to adapt to plates with different thicknesses.
10. The dual-purpose optical fiber laser cutting robot for the double-platform plate pipe according to claim 9, wherein: the clamping plate openings with the same size centered by the same plate and pipe dual-purpose gripper are clamped on the upper side and the lower side of the plate respectively, and the clamping plate openings with the same size centered by the different plate and pipe dual-purpose grippers are clamped on different positions on the left and right dimensions of the plate respectively.
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| CN201910464980.3A CN110091086B (en) | 2019-05-30 | 2019-05-30 | Dual-purpose optical fiber laser cutting robot for double-platform plate pipe |
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| CN201910464980.3A CN110091086B (en) | 2019-05-30 | 2019-05-30 | Dual-purpose optical fiber laser cutting robot for double-platform plate pipe |
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| CN110091086B true CN110091086B (en) | 2021-03-19 |
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| CN116352280B (en) * | 2023-06-01 | 2023-07-25 | 济南帕特机械有限公司 | Dual-purpose multiaxis laser engraving machine of board pipe |
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Address after: 250101 800m west of Chunhui road and Kejia Road, Suncun Industrial Zone, high tech Zone, Jinan City, Shandong Province Patentee after: Jinan Jinweike Laser Technology Co.,Ltd. Address before: 250101 800m west of Chunhui road and Kejia Road, Suncun Industrial Zone, high tech Zone, Jinan City, Shandong Province Patentee before: JINAN G.WEIKE SCIENCE & TECHNOLOGY Co.,Ltd. |
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