CN111215763B - Control method of three-dimensional laser cutting and welding integrated equipment for special-shaped pipe - Google Patents

Control method of three-dimensional laser cutting and welding integrated equipment for special-shaped pipe Download PDF

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Publication number
CN111215763B
CN111215763B CN202010112633.7A CN202010112633A CN111215763B CN 111215763 B CN111215763 B CN 111215763B CN 202010112633 A CN202010112633 A CN 202010112633A CN 111215763 B CN111215763 B CN 111215763B
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welding
laser
cutting
special
laser head
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CN111215763A (en
Inventor
肖海兵
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Shenzhen Institute of Information Technology
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Shenzhen Institute of Information Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/36Removing material
    • B23K26/38Removing material by boring or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08Devices involving relative movement between laser beam and workpiece
    • B23K26/0869Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20Bonding
    • B23K26/21Bonding by welding
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/06Tubes

Abstract

The application belongs to the technical field of laser processing equipment, and particularly relates to a three-dimensional laser cutting and welding integrated device for a special-shaped pipe and a control method of the three-dimensional laser cutting and welding integrated device. Three-dimensional laser cutting welding integration equipment of special-shaped pipe includes the main cabinet body, laser system, cutting feeding mechanism and welding fixed establishment, laser system includes actuating mechanism, laser head and fiber laser, actuating mechanism sets up on the main cabinet body, actuating mechanism is used for driving the laser head and removes in the three-dimensional space that comprises the X axle, Y axle and Z axle, fiber laser and laser head are connected, cutting feeding mechanism is used for pressing from both sides and establishes the pipe fitting and rotate along the X axle or feed along the X axle, cutting feeding mechanism's feed path passes through the below of laser head, and welding fixed establishment corresponds the below setting of laser head, so just had the three-dimensional laser cutting and the welding function to the pipe fitting concurrently. The control method solves the problem of shape control of the special-shaped pipe in the three-dimensional laser cutting and welding process.

Description

Control method of three-dimensional laser cutting and welding integrated equipment for special-shaped pipe
Technical Field
The application belongs to the technical field of laser processing equipment, and particularly relates to a control method of special-shaped pipe three-dimensional laser cutting and welding integrated equipment.
Background
In the fields of automobile manufacturing, ship manufacturing, steel structure processing and other industries, laser cutting and laser welding processing of materials (such as plate pieces, round pipe pieces, square pipe pieces, special-shaped pipe pieces and the like) are generally involved. In the prior art, the laser cutting and laser welding processes are usually realized by respectively adopting a cutting machine and a welding machine, so that the input cost of laser cutting and laser welding processing is high, and the processing efficiency is low.
Disclosure of Invention
The application aims to provide a control method of a three-dimensional laser cutting and welding integrated device for a special-shaped pipe, and aims to solve the technical problems that in the prior art, the input cost of laser cutting and laser welding processing is high, and the processing efficiency is low.
In order to achieve the purpose, the technical scheme adopted by the application is as follows: a control method of three-dimensional laser cutting and welding integrated equipment for a special-shaped pipe comprises the following steps:
s1: providing a main cabinet body, a laser system, a cutting and feeding mechanism, a feedback device and a welding and fixing mechanism, arranging the cutting and feeding mechanism, the feedback device and the welding and fixing mechanism on the main cabinet body, enabling a laser head of the laser system and the feedback device to correspond to a feeding path of the cutting and feeding mechanism and a welding workbench of the welding and fixing mechanism, and determining a laser beam compensation radius value by the feedback device according to the three-dimensional shape of a part of a special-shaped pipe to be subjected to laser cutting or laser welding;
s2: providing a control module and a vision module, wherein the cutting and feeding mechanism, the welding and fixing mechanism, the vision module and the laser system are electrically connected with the control module, the vision module is electrically connected with the laser head, and a light path of the vision module and a laser beam path of the laser head are coaxially arranged so as to realize the positioning of the laser head relative to the position to be cut or welded of the special-shaped pipe;
s3: when the laser head carries out welding operation, the control module controls the laser head to aim at the special-shaped pipe on the welding fixing mechanism according to information fed back by the vision module, and controls the feedback device to carry out appearance tracking measurement and welding compensation quantity determination on a three-dimensional complex welding seam of the special-shaped pipe so as to realize accurate laser welding operation;
s4: when the laser head performs cutting and welding composite operation, the special-shaped pipes with two different thicknesses are clamped and fixed, the parts to be cut of the two special-shaped pipes are subjected to three-dimensional laser cutting through the laser head respectively to form welding edges, and the welding edges of the two special-shaped pipes are spliced and welded through the laser head;
the laser system further comprises a driving mechanism and a fiber laser, the driving mechanism is arranged on the main cabinet body, the laser head is arranged on the driving mechanism, the driving mechanism is used for driving the laser head to move in a three-dimensional space formed by an X axis, a Y axis and a Z axis, the fiber laser is arranged in the main cabinet body and connected with the laser head, the cutting and feeding mechanism is arranged on the main cabinet body and used for clamping a special-shaped pipe to rotate along the X axis or feed along the X axis, the feeding path of the cutting and feeding mechanism is positioned below the laser head, the welding and fixing mechanism is arranged on the main cabinet body, and the welding and fixing mechanism is positioned below the laser head;
the driving mechanism comprises an X-axis linear module, a Y-axis linear module, a Z-axis linear module and a support frame, the support frame is arranged on the main cabinet body, the X-axis linear module is arranged on the support frame, the Y-axis linear module is arranged on the X-axis linear module, the Z-axis linear module is arranged on the Y-axis linear module, and the laser head is arranged on the Z-axis linear module;
the cutting and feeding mechanism comprises a driving motor, a clamping assembly and a bearing frame, the bearing frame is arranged on the main cabinet body, the clamping assembly and the driving motor are both arranged on the bearing frame, and the driving motor is in transmission connection with the clamping assembly and is used for driving the clamping assembly to rotate around an X axis or driving the special-shaped pipe to move along the X axis;
the cutting and feeding mechanism further comprises a first transmission assembly and a second transmission assembly, the first transmission assembly comprises a gear shaft, a transmission belt and a driven gear, the gear shaft is in transmission connection with a driving shaft of the driving motor, the driven gear is arranged on the clamping assembly, the transmission belt is sleeved between the gear shaft and the driven gear, the second transmission assembly comprises a worm and a driving nut, the worm is arranged along the X-axis direction, the driving nut is sleeved on the worm and is connected with the special-shaped pipe, the driving shaft of the driving motor is selectively in transmission connection with the gear shaft or the worm, the cutting and feeding mechanism further comprises a clutch, and the driving shaft of the driving motor is switched between the gear shaft transmission fit and the worm transmission fit through the clutch;
the welding fixing mechanism comprises a welding workbench and a worm gear lifter, the worm gear lifter is fixed in the main cabinet body, the welding workbench is arranged on the worm gear lifter and corresponds to the laser head, guide pieces are arranged at four corners of the worm gear lifter, a reinforcing plate strip is connected between every two adjacent guide pieces, and the guide pieces are connected with the lower end face of the welding workbench;
the clamping assembly comprises a clamping chuck and an inner shaft sleeve, an assembly hole is formed in the bearing frame, the inner shaft sleeve is rotatably arranged in the assembly hole in a penetrating mode, and the clamping chuck is arranged on the inner shaft sleeve;
the cutting and feeding mechanism further comprises a tail support mechanism, the tail support mechanism comprises a tail support frame and a top shaft, the tail support frame is arranged on one side of the support frame in a sliding mode along an X axis, and the top shaft is arranged on one side, facing the clamping chuck, of the tail support frame and is opposite to the special-shaped pipe;
the tail support mechanism further comprises an elastic piece, the top shaft is arranged on the tail support frame in a sliding mode along the X axis, and the elastic piece is arranged between the top shaft and the tail support frame;
the tail supporting mechanism further comprises a hand-screwed bolt, a threaded hole is formed in the tail supporting frame, and the hand-screwed bolt penetrates through the threaded hole and is used for being in butt fit with the supporting frame.
The embodiment of the application has at least the following beneficial effects: the utility model provides a three-dimensional laser cutting welding integration equipment of special-shaped pipe, in operation, fiber laser exports high-power laser beam to the laser head, make the laser head can realize cutting or welding special-shaped pipe, when special-shaped pipe cutting, actuating mechanism can drive the laser head by the X axle, the three-dimensional solid space that Y axle and Z axle constitute removes, cutting feeding mechanism can be followed the X axle and delivered to the cutting position with special-shaped pipe simultaneously, and make special-shaped pipe rotate along the X axle, the laser head can be under actuating mechanism's drive like this, three-dimensional laser cutting is realized to special-shaped pipe in the pairing. In the welding process of objects such as the special-shaped pipe, the laser head can quickly realize the welding treatment of the objects such as the special-shaped pipe fixed on the welding fixing mechanism at different positions under the driving of the driving mechanism, and can quickly move up and down relative to the objects such as the special-shaped pipe, so as to realize high-efficiency and accurate focusing. So, the three-dimensional laser cutting welding integration equipment of special pipe that this application embodiment provided has just had three-dimensional laser cutting and the welding function to special pipe concurrently, has just so shown the processing cost who has reduced the laser cutting and the laser welding processing of articles such as special pipe, has also effectively promoted the laser cutting and the laser welding processing's of articles such as special pipe machining efficiency simultaneously.
According to the control method of the three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe, the control module group is enabled to effectively control the cutting feeding mechanism, the welding fixing mechanism and the laser system, and therefore the efficient and stable operation of the laser cutting and welding operation process of the special-shaped pipe is guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application, 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 three-dimensional laser cutting and welding integrated device for a special-shaped pipe according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a welding and fixing mechanism of the three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe according to the embodiment of the present application;
fig. 3 is a schematic structural diagram of a tail boom mechanism of the three-dimensional laser cutting and welding integrated device for the special-shaped pipe according to the embodiment of the present application;
fig. 4 is a flowchart of steps of a control method of the three-dimensional laser cutting and welding integrated device for a special-shaped pipe according to the embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
10-main cabinet body 20-laser system 21-driving mechanism
22-laser head 23-X axis linear module 24-Y axis linear module
25-Z-axis linear module 26-support frame 27-vision module
30-cutting feeding mechanism 31-driving motor 32-clamping assembly
33-bearing frame 40-welding fixing mechanism 41-welding workbench
42-worm gear lifter 43-lifting motor 44-driving nut
45-lifting worm 46-guide 47-reinforcing strip
48-welding die 50-tail support mechanism 51-tail support frame
52-top shaft 53-elastic piece 54-hand bolt
55-guide rail 60-feedback device 70-profile tube.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to fig. 1-4 are exemplary and intended to be used to illustrate the present application and should not be construed as limiting the present application.
In the description of the present application, it is to 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, which is for convenience and simplicity of description, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, is not to be considered as limiting.
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 application, "a plurality" means two or more unless specifically limited otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
As shown in fig. 1 to 3, the embodiment of the present application provides a special-shaped pipe three-dimensional laser cutting and welding integrated device, including a main cabinet 10, a laser system 20, a cutting and feeding mechanism 30, and a welding and fixing mechanism 40, where the laser system 20 includes a driving mechanism 21, a laser head 22, and a fiber laser, the driving mechanism 21 is disposed on the main cabinet 10, the laser head 22 is disposed on the driving mechanism 21, the driving mechanism 21 is configured to drive the laser head 22 to move in a three-dimensional space formed by an X axis, a Y axis, and a Z axis, the fiber laser is disposed in the main cabinet 10 and connected to the laser head 22, the cutting and feeding mechanism 30 is disposed on the main cabinet 10 and configured to clamp a special-shaped pipe 70 to rotate along the X axis and/or feed along the X axis, and a feeding path of the cutting and feeding mechanism 30 is located.
In this embodiment, the cutting and feeding mechanism 30 can also clamp the cylindrical member to realize cutting. The welding fixing mechanism 40 is disposed on the main cabinet 10, the welding fixing mechanism 40 is located below the laser head 22, and the welding fixing mechanism 40 is used for fixing the special-shaped pipe 70 and the plate-shaped object to be welded.
Specifically, the three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe further comprises a control system, a water cooling system, a voltage stabilizing power supply, a display and input equipment. The control system can be a PLC industrial personal computer with an industrial air conditioner and the like, and is electrically connected with the cutting and feeding mechanism 30, the welding and fixing mechanism 40, the driving mechanism 21 and the optical fiber laser so as to control the operation of the mechanisms. The fiber laser realizes switching of laser cutting and laser welding functions of the laser head 22 by changing the power of the laser output to the laser head 22. The water cooling system can provide circulative cooling for fiber laser and laser head 22, guarantees fiber laser and laser head 22's steady operation, and constant voltage power supply can provide the electric energy for the operation of each system mechanism, and input device such as display and mouse keyboard then can provide human-computer interaction interface for the operator, makes things convenient for each operating instruction of operator to assign.
The three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe has higher cutting and welding flexibility, and is particularly suitable for cutting and welding small-batch circular pipes or special-shaped pipes 70 and sheet metal parts. Meanwhile, the laser cutting and welding has strong adaptability to materials, and the three-dimensional cutting and welding of any plate can be realized through a numerical control program prestored in a control system.
Furthermore, the control module can realize cutting and welding according to the pre-stored processing path, and if the processing object changes, only the processing path program needs to be modified, so that the method is convenient and fast. By pre-storing various machining path degrees, various different cutting and welding functions can be realized according to the machining requirements and the material characteristics of the machined object.
Further, the three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe, provided by the embodiment of the application, integrates laser cutting and laser welding, so that the processes of trimming, punching and the like of the processing objects such as the special-shaped pipe 70 and the like can be completed at one time, the cut is tidy without reprocessing of the subsequent process, the process flow is greatly shortened, the labor cost and the investment of the die cost are reduced, and the grade and the additional value of the product are also improved.
The three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe provided by the embodiment of the application is further described as follows: the three-dimensional laser cutting welding integration equipment of dysmorphism pipe that this application embodiment provided, in operation, fiber laser exports high-power laser beam to laser head 22, make laser head 22 can realize cutting or welding special-shaped pipe 70, when special-shaped pipe 70 cuts, actuating mechanism 21 can drive laser head 22 and remove in the three-dimensional space that comprises X axle, Y axle and Z axle, cutting feeding mechanism 30 can be followed the X axle and sent special-shaped pipe 70 to the cutting position simultaneously, and make special-shaped pipe 70 rotate along the X axle, laser head 22 can be under actuating mechanism 21's drive like this, three-dimensional laser cutting processing is realized to special-shaped pipe 70 in the pairing. In the welding process of the objects such as the special pipe 70, the laser head 22 can rapidly realize the welding treatment of the objects such as the special pipe 70 fixed on the welding fixing mechanism 40 at different positions under the driving of the driving mechanism 21, and can rapidly move up and down relative to the objects such as the special pipe 70, so as to realize the efficient and accurate focusing. So, the three-dimensional laser cutting welding integration equipment of special pipe that this application embodiment provided has just had concurrently intelligent three-dimensional laser cutting and the welding function to special pipe 70, the processing cost of laser cutting and laser welding processing of articles such as special pipe 70 has just so been showing and has been reduced, the machining efficiency and the processingquality of laser cutting and laser welding processing of articles such as special pipe 70 have also effectively been promoted simultaneously, operator's intensity of labour in laser cutting and the laser welding course of working has been reduced, still can realize the effective saving to processing raw and other materials. Meanwhile, the power consumption and the operation and maintenance cost of the system generated in the laser cutting and laser welding processing process are obviously reduced, and the floor area of the equipment is reduced.
In other embodiments of the present application, as shown in fig. 1, the driving mechanism 21 includes an X-axis linear module 23, a Y-axis linear module 24, a Z-axis linear module 25 and a supporting frame 26, the supporting frame 26 is disposed on the main cabinet 10, the X-axis linear module 23 is disposed on the supporting frame 26, the Y-axis linear module 24 is disposed on the X-axis linear module 23, the Z-axis linear module 25 is disposed on the Y-axis linear module 24, and the laser head 22 is disposed on the Z-axis linear module 25. Specifically, when the driving mechanism 21 works, the X-axis linear module 23, the Y-axis linear module 24, and the Z-axis linear module 25 therein may all or partially operate simultaneously according to the moving path requirement of the laser head 22, so as to meet the requirement of the laser head 22 for three-dimensional laser cutting of the special-shaped pipe 70.
In other embodiments of the present application, as shown in fig. 1, the cutting and feeding mechanism 30 includes a driving motor 31, a clamping assembly 32, and a carrier 33, the carrier 33 is disposed on the main cabinet 10, the clamping assembly 32 and the driving motor 31 are both disposed on the carrier 33, and the driving motor 31 is in transmission connection with the clamping assembly 32 and is configured to drive the clamping assembly 32 to rotate around the X-axis or drive the special-shaped pipe 70 to move along the X-axis. Specifically, when the cutting and feeding mechanism 30 works, the driving motor 31 can drive the special-shaped pipe 70 to move along the X-axis direction firstly, so that the initial cutting position of the special-shaped pipe 70 moves to the position corresponding to the laser head 22, at this time, the driving motor 31 can drive the clamping assembly 32 to rotate again, so as to drive the special-shaped pipe 70 to rotate, meanwhile, the laser head 22 is driven by the driving mechanism 21 to realize the three-dimensional cutting operation of the feeding length part of the special-shaped pipe 70, after the cutting of the length is completed, the driving motor 31 drives the special-shaped pipe 70 to move along the X-axis direction again, and in this way, the efficient three-dimensional cutting of the special-shaped pipe 70 section by section is realized.
In other embodiments of the present application, the cutting and feeding mechanism 30 further includes a first transmission assembly (not shown) and a second transmission assembly (not shown), the first transmission assembly includes a gear shaft, a transmission belt and a driven gear, the gear shaft is in transmission connection with a driving shaft of the driving motor 31, the driven gear is disposed on the clamping assembly 32, the transmission belt is sleeved between the gear shaft and the driven gear, the second transmission assembly includes a worm and a driving nut 44, the worm is disposed along the X-axis direction, the driving nut 44 is sleeved on the worm and is connected with the special pipe 70, and the driving shaft of the driving motor 31 is selectively in transmission connection with the gear shaft or the worm.
Specifically, by selectively connecting the drive shaft of the drive motor 31 to the gear shaft or the worm drive, the drive motor 31 is effectively switched between two operation modes of driving the special pipe 70 to rotate and driving the special pipe 70 to feed. Alternatively, the cutting and feeding mechanism 30 may include a clutch, and the driving shaft of the driving motor 31 is switched between the transmission fit with the gear shaft or the transmission fit with the worm by the action of the clutch.
In other embodiments of the present application, the clamping assembly 32 includes a clamping chuck (not shown) and an inner sleeve (not shown), the bearing frame 33 has a mounting hole, the inner sleeve is rotatably disposed in the mounting hole, and the clamping chuck is disposed on the inner sleeve. Specifically, through making the inner shaft sleeve rotate and wear to locate in the mounting hole, the clamping chuck sets up so that on the one hand realized that the clamping chuck can rotate for bearing frame 33 on the inner shaft sleeve, and on the other hand has also guaranteed the assembly stability of clamping chuck.
In other embodiments of the present application, as shown in fig. 3, the cutting and feeding mechanism 30 further includes a tail support mechanism 50, the tail support mechanism 50 includes a tail support frame 51 and a head shaft 52, the tail support frame 51 is slidably disposed on one side of the support frame 26 along the X axis, optionally, a guide rail 55 may be disposed on one side of the support frame 26, the tail support frame 51 is slidably disposed on the guide rail 55, and the head shaft 52 is mounted on one side of the tail support frame 51 facing the clamping chuck and disposed opposite to the special-shaped pipe 70. Specifically, by arranging the top shaft 52 on the tail boom 51 and arranging the tail boom 51 on one side of the support frame 26 in a sliding manner along the X axis, when the special-shaped pipe 70 is fed along the X axis direction, the end part of the special-shaped pipe can abut against the top shaft 52, the top shaft 52 and the tail boom 51 move in the X axis direction integrally under the pushing action of the special-shaped pipe 70, so that the special-shaped pipe 70 can be guided and stabilized by the top shaft 52 in the feeding process, and the accuracy of the movement track and the stability of the movement state of the special-shaped pipe 70 are further maintained.
In other embodiments of the present application, as shown in fig. 3, the tail boom mechanism 50 further includes an elastic member 53, the head shaft 52 is slidably disposed on the tail boom 51 along the X-axis, and the elastic member 53 is disposed between the head shaft 52 and the tail boom 51. Specifically, the elastic piece 53 is arranged between the head shaft 52 and the tail boom 51, so that the impact force generated when the special pipe 70 is abutted against the head shaft 52 can be resolved by the elastic piece 53, the acting force generated between the head shaft 52 and the tail boom 51 is effectively reduced, and the connection stability between the head shaft 52 and the tail boom 51 is ensured.
In other embodiments of the present application, as shown in fig. 3, the tail boom mechanism 50 further includes a hand bolt 54, a threaded hole is formed in the tail boom frame 51, and the hand bolt 54 passes through the threaded hole and is used for abutting engagement with the support frame 26. Specifically, by arranging the hand bolt 54, an operator can control whether the hand bolt 54 abuts against the support frame 26 by adjusting the screwing depth of the hand bolt 54 relative to the threaded hole, so as to control the fixing and moving of the relative positions of the tail support frame 51 and the support frame 26.
In other embodiments of the present application, as shown in fig. 2, the welding fixing mechanism 40 includes a welding table 41 and a worm gear lifter 42, the worm gear lifter 42 is fixed in the main cabinet 10, and the welding table 41 is disposed on the worm gear lifter 42 and is disposed corresponding to the laser head 22. Meanwhile, a welding mold 48 and the like may be fixed to the welding table 41. Specifically, by making the welding fixing mechanism 40 include the worm gear lifter 42, the worm gear lifter 42 can drive the welding table 41 to move up and down relative to the laser head 22, and then the Z-axis linear module 25 of the driving mechanism 21 can be matched to realize the quick and efficient focal length adjustment of the laser head 22 and the objects to be welded, such as the special-shaped pipe 70 arranged on the welding table 41.
Optionally, four corners of the worm gear lift 42 are provided with guide members 46, a reinforcing plate bar 47 is connected between two adjacent guide members 46, and the guide members 46 are connected with the lower end surface of the welding workbench 41, so that the guide members 46 ensure that the lifting action of the worm gear lift 42 is stably performed, and limit the lifting range of the worm gear lift 42 to ensure that the worm gear lift 42 can realize lifting operation within a preset lifting range.
Optionally, the worm gear lifter 42 further comprises a lifting motor 43, a driving nut 44 and a lifting worm 45, the lifting motor 43 is in transmission connection with the lifting worm 45, and the upper end of the lifting worm 45 is rotatably connected with the welding workbench 41. The lifting worm 45 can be driven by the lifting motor 43 to rotate, and then can move up and down by matching with the driving nut 44, so as to drive the welding workbench 41 to lift or lower.
As shown in fig. 4, the embodiment of the present application further provides a control method of a three-dimensional laser cutting and welding integrated device for a special-shaped pipe, including the following steps:
s1: providing a main cabinet body 10, a laser system 20, a cutting and feeding mechanism 30, a feedback device 60 and a welding and fixing mechanism 40, arranging the cutting and feeding mechanism 30, the feedback device 60 and the welding and fixing mechanism 40 on the main cabinet body 10, enabling a laser head 22 of the laser system 20 to correspond to a feeding path of the cutting and feeding mechanism 40 and a welding workbench 41 of the welding and fixing mechanism 40, and determining a laser beam compensation radius value by the feedback device 60 according to the three-dimensional shape of a part to be subjected to laser cutting or laser welding of a special-shaped pipe 70; specifically, in the three-dimensional laser cutting process of the special-shaped pipe 70, the compensation radius value of the laser beam can be determined by using a graphic cutter compensation method according to the three-dimensional appearance of the cut of the special-shaped pipe 70 stored in the device in advance.
S2: providing a control module and a vision module 27, and electrically connecting the cutting and feeding mechanism 30, the welding and fixing mechanism 40, the vision module 27 and the laser system 20 with the control module, wherein the optical path of the vision module 27 and the laser beam path of the laser head 22 are coaxially arranged, so as to realize the positioning of the laser head 22 relative to the position to be cut or welded of the special-shaped pipe 70; when the laser head 22 performs cutting operation, the control module can control the cutting and feeding mechanism 30 to convey the special-shaped pipe 70 to a designated position according to information fed back by the vision module 27, and then control the cutting and feeding mechanism 30 to drive the special-shaped pipe 70 to rotate relative to the laser head 22, so as to realize three-dimensional laser cutting of the special-shaped pipe 70;
s3: when the laser head carries out welding operation, the control module group aims at the special pipe 70 on the welding fixed establishment 40 according to the information control laser head 22 of vision module 27 feedback, and control feedback device 60 carries out the appearance tracking measurement and the welding compensation volume of the three-dimensional complicated welding seam of special pipe 70 and confirms, in order to realize accurate laser welding operation, so can show the shape controllability that promotes among the welding process, and can realize accurate welding and non-penetrability laser cutting etc. between the unequal two platelike pieces of thickness, through to three-dimensional complicated welding seam appearance measurement, trail and compensation, still can realize the effective control to the welding seam shape and the tissue homogeneity of special pipe 70 and platelike piece. When the special pipe 70 or the plate-shaped part is spliced, the special pipe 70 or the plate-shaped part can be moved and spliced in a micro-feeding mode by adopting a positive and negative 'knife repair' programming method, the splicing gap is reduced to a certain range from the thickness of the special pipe 70 or the plate-shaped part, the splicing track is measured according to a visual module in the laser head 22, the offset generated in the splicing process is dynamically compensated in real time, and after the splicing is finished, the welding and the detection of the quality of a welding seam can be carried out.
S4: when the laser head performs cutting and welding composite operation, the two special-shaped pipes 70 with different thicknesses are clamped and fixed, the parts to be cut of the two special-shaped pipes 70 are subjected to three-dimensional laser cutting through the laser head respectively to form welding edges, and the welding edges of the two special-shaped pipes 70 are spliced and welded through the laser head. Specifically, the three-dimensional laser cutting and welding operation of the special-shaped pipe adopts closed-loop control, and the optimization of the processing interface form is ensured by optimizing the process conditions such as laser energy distribution, cutting and welding direction and angle. Meanwhile, the real-time measurement of the splicing space and the adjustment of the compression force of the special-shaped pipe 70 or the plate-shaped part in the welding process can be carried out, so that the closed-loop control of the gaps of different welding sections under different rigidities is realized, and the welding shape control of the three-dimensional curved surface welding line of the special-shaped pipe 70 or the plate-shaped part is creatively realized.
According to the control method of the three-dimensional laser cutting and welding integrated equipment for the special-shaped pipe, the control module can effectively control the cutting and feeding mechanism 30, the welding and fixing mechanism 40 and the laser system 20, so that efficient and stable operation of laser cutting and welding operation of the special-shaped pipe 70 is guaranteed.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.

Claims (1)

1. A control method of three-dimensional laser cutting and welding integrated equipment for a special-shaped pipe is characterized by comprising the following steps: the method comprises the following steps:
s1: providing a main cabinet body, a laser system, a cutting and feeding mechanism, a feedback device and a welding and fixing mechanism, arranging the cutting and feeding mechanism, the feedback device and the welding and fixing mechanism on the main cabinet body, enabling a laser head of the laser system and the feedback device to correspond to a feeding path of the cutting and feeding mechanism and a welding workbench of the welding and fixing mechanism, and determining a laser beam compensation radius value by the feedback device according to the three-dimensional shape of a part of a special-shaped pipe to be subjected to laser cutting or laser welding;
s2: providing a control module and a vision module, wherein the cutting and feeding mechanism, the welding and fixing mechanism, the vision module and the laser system are electrically connected with the control module, the vision module is electrically connected with the laser head, and a light path of the vision module and a laser beam path of the laser head are coaxially arranged so as to realize the positioning of the laser head relative to the position to be cut or welded of the special-shaped pipe;
s3: when the laser head carries out welding operation, the control module controls the laser head to aim at the special-shaped pipe on the welding fixing mechanism according to information fed back by the vision module, and controls the feedback device to carry out appearance tracking measurement and welding compensation quantity determination on a three-dimensional complex welding seam of the special-shaped pipe so as to realize accurate laser welding operation;
s4: when the laser head performs cutting and welding composite operation, the special-shaped pipes with two different thicknesses are clamped and fixed, the parts to be cut of the two special-shaped pipes are subjected to three-dimensional laser cutting through the laser head respectively to form welding edges, and the welding edges of the two special-shaped pipes are spliced and welded through the laser head;
the laser system further comprises a driving mechanism and a fiber laser, the driving mechanism is arranged on the main cabinet body, the laser head is arranged on the driving mechanism, the driving mechanism is used for driving the laser head to move in a three-dimensional space formed by an X axis, a Y axis and a Z axis, the fiber laser is arranged in the main cabinet body and connected with the laser head, the cutting and feeding mechanism is arranged on the main cabinet body and used for clamping a special-shaped pipe to rotate along the X axis or feed along the X axis, the feeding path of the cutting and feeding mechanism is positioned below the laser head, the welding and fixing mechanism is arranged on the main cabinet body, and the welding and fixing mechanism is positioned below the laser head;
the driving mechanism comprises an X-axis linear module, a Y-axis linear module, a Z-axis linear module and a support frame, the support frame is arranged on the main cabinet body, the X-axis linear module is arranged on the support frame, the Y-axis linear module is arranged on the X-axis linear module, the Z-axis linear module is arranged on the Y-axis linear module, and the laser head is arranged on the Z-axis linear module;
the cutting and feeding mechanism comprises a driving motor, a clamping assembly and a bearing frame, the bearing frame is arranged on the main cabinet body, the clamping assembly and the driving motor are both arranged on the bearing frame, and the driving motor is in transmission connection with the clamping assembly and is used for driving the clamping assembly to rotate around an X axis or driving the special-shaped pipe to move along the X axis;
the cutting and feeding mechanism further comprises a first transmission assembly and a second transmission assembly, the first transmission assembly comprises a gear shaft, a transmission belt and a driven gear, the gear shaft is in transmission connection with a driving shaft of the driving motor, the driven gear is arranged on the clamping assembly, the transmission belt is sleeved between the gear shaft and the driven gear, the second transmission assembly comprises a worm and a driving nut, the worm is arranged along the X-axis direction, the driving nut is sleeved on the worm and is connected with the special-shaped pipe, the driving shaft of the driving motor is selectively in transmission connection with the gear shaft or the worm, the cutting and feeding mechanism further comprises a clutch, and the driving shaft of the driving motor is switched between the gear shaft transmission fit and the worm transmission fit through the clutch;
the welding fixing mechanism comprises a welding workbench and a worm gear lifter, the worm gear lifter is fixed in the main cabinet body, the welding workbench is arranged on the worm gear lifter and corresponds to the laser head, guide pieces are arranged at four corners of the worm gear lifter, a reinforcing plate strip is connected between every two adjacent guide pieces, and the guide pieces are connected with the lower end face of the welding workbench;
the clamping assembly comprises a clamping chuck and an inner shaft sleeve, an assembly hole is formed in the bearing frame, the inner shaft sleeve is rotatably arranged in the assembly hole in a penetrating mode, and the clamping chuck is arranged on the inner shaft sleeve;
the cutting and feeding mechanism further comprises a tail support mechanism, the tail support mechanism comprises a tail support frame and a top shaft, the tail support frame is arranged on one side of the support frame in a sliding mode along an X axis, and the top shaft is arranged on one side, facing the clamping chuck, of the tail support frame and is opposite to the special-shaped pipe;
the tail support mechanism further comprises an elastic piece, the top shaft is arranged on the tail support frame in a sliding mode along the X axis, and the elastic piece is arranged between the top shaft and the tail support frame;
the tail supporting mechanism further comprises a hand-screwed bolt, a threaded hole is formed in the tail supporting frame, and the hand-screwed bolt penetrates through the threaded hole and is used for being in butt fit with the supporting frame.
CN202010112633.7A 2020-02-24 2020-02-24 Control method of three-dimensional laser cutting and welding integrated equipment for special-shaped pipe Active CN111215763B (en)

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