CN111761163A

CN111761163A - Cutting robot and cutting method

Info

Publication number: CN111761163A
Application number: CN202010622476.4A
Authority: CN
Inventors: 冯消冰; 潘百蛙; 赵星
Original assignee: Beijing Bo Tsing Technology Co Ltd
Current assignee: Beijing Bo Tsing Technology Co Ltd
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-10-13

Abstract

The embodiment of the invention discloses a cutting robot, which comprises: the robot comprises a cutting execution module, a movement control module and a robot body; the cutting execution module and the movement control module are both positioned above the robot body; the cutting execution module comprises a cutting nozzle, a clamping unit, an adjusting valve and an angle adjusting unit; the movement control module is respectively connected with the robot body and the cutting execution module and used for controlling the movement of the cutting execution module. The technical scheme provided by the embodiment of the invention realizes the mechanized gas cutting operation, greatly improves the cutting efficiency and the cutting precision, simultaneously, the robot body has the capability of moving on the surface of the object to be cut, still has excellent cutting processing capability for large-scale structural devices which are difficult to move, and enlarges the application range of the cutting robot.

Description

Cutting robot and cutting method

Technical Field

The embodiment of the invention relates to a robot technology and an industrial cutting technology, in particular to a cutting robot and a cutting method.

Background

With the continuous progress of science and technology, the robot technology is rapidly developed, and as an important branch of the robot technology, the cutting robot is widely applied to the field of industrial cutting, so that the industrial production level is greatly improved.

Cutting robot mainly uses water cutting robot and laser cutting robot as the main, and in the gas cutting field, cutting robot still needs the staff to operate with manual control's mode, relies on cutting personnel's experience to accomplish the cutting task, and cutting accuracy is relatively poor, and cutting efficiency is lower, and simultaneously, current gas cutting robot structure is complicated, to the large-scale structure device that is difficult to remove, can't accomplish the cutting operation through cutting robot, can only go on with the mode of manual cutting, and application scope is limited.

Disclosure of Invention

The embodiment of the invention provides a cutting robot and a cutting method, which are used for finishing gas cutting operation through the cutting robot.

In a first aspect, an embodiment of the present invention provides a cutting robot, including: the robot comprises a cutting execution module, a movement control module and a robot body; the cutting execution module and the movement control module are both positioned above the robot body;

the cutting execution module comprises a cutting nozzle, a clamping unit, an adjusting valve and an angle adjusting unit;

the cutting nozzle is used for performing cutting operation through high-temperature flame generated by gas combustion;

the clamping unit is used for clamping the cutting nozzle;

the adjusting valve is used for adjusting the gas flow in the cutting nozzle;

the angle adjusting unit is used for adjusting the cutting angle of the cutting nozzle;

the movement control module is respectively connected with the robot body and the cutting execution module and is used for controlling the movement of the cutting execution module;

the robot body is used for bearing the movement control module and the cutting execution module and moving on an object to be cut.

The movement control module comprises a transverse control module, a longitudinal control module and a height control module;

the transverse control module is used for controlling the cutting execution module to move along the horizontal direction; the horizontal direction is the direction in which the center point of the upper end surface of the robot body points to the center point of the right edge;

the longitudinal control module is used for controlling the cutting execution module to move along the vertical direction; the vertical direction is the direction in which the center point of the upper end surface of the robot body points to the center point of the edge of the front side;

the height control module is used for controlling the cutting execution module to move along the vertical direction; the vertical direction is a direction perpendicular to the horizontal direction and the vertical direction and vertically upward.

The movement control module comprises a ball screw.

The robot body comprises a frame, crawler wheels and a power module;

the crawler wheels are positioned on two sides of the frame and are used for driving the frame to move;

the power module is positioned in the frame and used for providing power for the crawler wheels;

the frame is used for bearing the crawler wheels and the power module.

The robot body further comprises an adsorption module;

the adsorption module is positioned at the rear end of the frame and used for fixing the robot body on the surface of the object to be cut.

The object to be cut is made of a magnetic conductive material; the adsorption module comprises a magnetic adsorption module.

The robot body further comprises a gyroscope and/or an edge detection sensor;

the gyroscope is positioned in the frame and used for detecting the attitude information of the robot body;

the edge detection sensors are positioned at the front end and the rear end of the frame and used for detecting the edge of the object to be cut.

In a second aspect, an embodiment of the present invention provides a cutting method, including:

when a target cutting task is obtained, analyzing the target cutting task to obtain task information; the task information comprises a target position point, a target cutting angle and a target cutting track;

controlling the robot body to move to the target position point, and adjusting the posture of the robot body according to the posture information recorded by the gyroscope;

controlling a cutting nozzle to move to the target cutting point through a movement control module, and adjusting the cutting nozzle to the target cutting angle through an angle adjusting unit;

and controlling the cutting nozzle to execute cutting operation along the target cutting track through the mobile control module.

In a third aspect, an embodiment of the present invention provides a cutting device, including:

the cutting task analysis module is used for analyzing the target cutting task to obtain task information when the target cutting task is obtained; the task information comprises a target position point, a target cutting angle and a target cutting track;

the position and posture control module is used for controlling the robot body to move to the target position point and adjusting the posture of the robot body according to the posture information recorded by the gyroscope;

the cutting nozzle control module is used for controlling the cutting nozzle to move to the target cutting point through the movement control module and adjusting the cutting nozzle to the target cutting angle through the angle adjusting unit;

and the cutting operation executing module is used for controlling the cutting nozzle to execute cutting operation along the target cutting track through the mobile control module.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is configured to, when executed by a processor, implement the cutting method according to any embodiment of the present invention.

According to the technical scheme provided by the embodiment of the invention, the position of the cutting nozzle is controlled by the mobile control module, the gas flow is regulated by the regulating valve, and the cutting angle of the cutting nozzle is controlled by the angle regulating unit, so that the mechanized gas cutting operation is realized, the cutting efficiency and the cutting precision are greatly improved, meanwhile, the robot body has the capability of moving on the surface of an object to be cut, and the robot body still has excellent cutting processing capability for large-scale structural devices which are difficult to move, and the application range of the cutting robot is expanded.

Drawings

Fig. 1A is a block diagram of a cutting robot according to an embodiment of the present invention;

FIG. 1B is a schematic diagram of a moving direction according to an embodiment of the present invention;

fig. 1C is a structural block diagram of a robot body of a cutting robot according to an embodiment of the present invention;

fig. 1D is a block diagram of a track wheel of a cutting robot according to an embodiment of the present invention;

FIG. 2 is a flow chart of a cutting method according to a second embodiment of the present invention;

fig. 3 is a block diagram of a cutting device according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1A is a block diagram of a cutting robot according to an embodiment of the present invention, where the cutting robot includes: a cutting execution module 11, a movement control module 12 and a robot body 13; the cutting execution module 11 and the movement control module 12 are both positioned above the robot body 13;

the cutting execution module 11 comprises a cutting nozzle 111, a clamping unit 112, an adjusting valve 113 and an angle adjusting unit 114;

the cutting nozzle 111 for performing a cutting operation by high temperature flame generated by gas combustion; the cutting nozzle 111 is connected with a mixed gas pipe and a pure oxygen pipe, the mixed gas pipe comprises combustible gas (for example, acetylene) and oxygen, an object to be cut of a metal material is melted by high-temperature flame generated by mixed combustion of the combustible gas and the oxygen, and the melted metal is rapidly oxidized and combusted through the pure oxygen sprayed by the pure oxygen pipe to generate oxide slag which is blown away by airflow so as to form a cut; in particular, the combustible gas may also include petroleum gas, natural gas or coal gas, and in the embodiment of the present invention, the type of the combustible gas is not particularly limited.

A clamping unit 112 for clamping the cutting nozzle 111; a regulating valve 113 for regulating the flow rate of gas in the cutting nozzle 111; the adjusting valve 113 can adjust the flow of the mixed gas in the mixed gas pipe and also can adjust the flow of the oxygen in the pure oxygen pipe; an angle adjusting unit 114 for adjusting a cutting angle of the cutting nozzle 111.

The movement control module 12 is respectively connected with the cutting execution module 11 and the robot body 13, and is used for controlling the movement of the cutting execution module 11; when executing the cutting task, the cutting execution module 11 needs to move to a different cutting starting point and also needs to execute cutting operations in different directions from the cutting starting point, and therefore, the movement control module 12 provides drag force in different directions for the cutting execution module 11.

Optionally, in the embodiment of the present invention, the movement control module 12 includes a transverse control module, a longitudinal control module, and a height control module; the transverse control module is used for controlling the cutting execution module 11 to move along the horizontal direction; the horizontal direction is a direction in which a center point of the upper end surface of the robot body 13 points to a center point of the right edge; the longitudinal control module is used for controlling the cutting execution module 11 to move along the vertical direction; the vertical direction is a direction in which a center point of the upper end surface of the robot body 13 points to a center point of the front side edge; the height control module is used for controlling the cutting execution module 11 to move along the vertical direction; the vertical direction is a direction perpendicular to the horizontal direction and the vertical direction and vertically upward. As shown in fig. 1B, the upper end surface of the robot body 13 is square, the horizontal direction corresponds to the left-right direction of the robot body 13, the vertical direction corresponds to the front-back direction of the robot body 13, that is, the moving direction of the robot body 13, and the vertical direction is perpendicular to the upper end surface of the robot body 13 and vertically upward.

Optionally, in the embodiment of the present invention, the movement control module 12 includes a ball screw; the ball screw is a transmission device for converting rotary motion into linear motion, has the characteristics of high precision, reversibility, high efficiency, small friction resistance and the like, and in the embodiment of the invention, the kinetic energy generated by the rotary motion of the balls in the ball screw is utilized to drag the cutting execution module 11 to move along the linear direction; the ball screw may include a screw, a nut, a steel ball, a pre-pressing piece, a reverser, a dust catcher, and the like, and in the embodiment of the present invention, the constituent components of the ball screw are not particularly limited.

The robot body 13 is used for bearing the movement control module 12 and the cutting execution module 11 and moving on an object to be cut; specifically, as shown in fig. 1C, the robot body 13 includes a frame 131, track wheels 132, and a power module 133; the crawler wheels 132 are located on two sides of the frame 131 and are used for driving the frame 131 to move; as shown in fig. 1D, the track wheel 132 includes a hub 1321, and a first rotating chain 1322, a second rotating chain 1323, and a connecting chain 1324 wrapping the hub 1321, wherein the connecting chain 1324 connects the first rotating chain 1322 and the second rotating chain 1323, respectively; the crawler wheels 132 are movably connected with the frame 131, so that when the cutting robot walks on a non-planar object to be cut, the crawler wheels 132 can freely adjust the posture relative to the frame 131, the surface of the object to be cut is adapted to the posture, the fit degree of the crawler wheels 132 and the surface of the object to be cut is improved, and the probability that the cutting robot slips or falls off from the object to be cut is reduced; the power module 133 is located inside the frame 131 and is used for providing power for the track wheels 132; the frame 131 is used for carrying the track wheels 132 and the power module 133.

Optionally, in an embodiment of the present invention, the robot body 13 further includes an adsorption module and a lifting mechanism for driving the adsorption module to lift; the adsorption module is positioned at the rear end of the frame and used for fixing the robot body 13 on the surface of the object to be cut; when the adsorption operation is executed, the lifting mechanism drives the adsorption module to vertically move downwards, and the adsorption module passes through the frame 131 through the through hole on the frame 131 and is close to the surface of the object to be cut; when the adsorption operation is finished, the lifting mechanism drives the adsorption module to vertically move upwards, and the adsorption module passes through the frame 131 through the through hole in the frame 131 and is far away from the surface of the object to be cut. When the cutting nozzle 111 performs a cutting operation, it is necessary to ensure the stability of the robot body 13 and prevent sliding from occurring, which results in deviation of a cutting track, and therefore, an adsorption module (e.g., a suction cup) is installed at the rear end of the robot body 13, and the adsorption module is adsorbed on an object to be cut while the cutting nozzle 111 performs a cutting operation, so as to maintain the stability of the robot body 13; in particular, if the object to be cut is a magnetically conductive material, the adsorption module comprises a magnetic adsorption module.

Optionally, in the embodiment of the present invention, the robot body 13 further includes a gyroscope and/or an edge detection sensor; the gyroscope is positioned inside the frame 131 and used for detecting the attitude information of the robot body 13; the edge detection sensors are positioned at the front end and the rear end of the frame and used for detecting the edge of the object to be cut; during the movement process of the robot body 13 or when the robot body 13 is placed on the surface of an object to be cut, the posture information may deviate, so that the change of the posture information of the robot body 13 is obtained in real time through a gyroscope (for example, a nine-axis gyroscope) installed inside the robot body 13, and before the cutting operation is performed by the cutting nozzle 111, the posture of the robot body 13 is adjusted to ensure the stable posture; meanwhile, the edge detection sensors are respectively arranged at the front end and the rear end of the robot body 13, so that the cutting robot can be prevented from leaving the object to be cut when moving on the surface of the object to be cut, and falling of the cutting robot is avoided.

Example two

Fig. 2 is a flowchart of a cutting method according to a second embodiment of the present invention, where this embodiment is applicable to a cutting robot according to the first embodiment to perform a cutting operation, and this method may be performed by a cutting device according to a third embodiment of the present invention, where this device may be implemented in a software and/or hardware manner and integrated into the cutting robot, and this method specifically includes the following steps:

s210, when a target cutting task is obtained, analyzing the target cutting task to obtain task information; the task information comprises a target position point, a target cutting angle and a target cutting track.

The target position point is a position which the robot body of the cutting robot needs to reach, and the movement control operation of the robot body is realized by controlling the central point of the lower end surface of the robot body to reach the target position point; the target cutting point is the position to which the cutting nozzle needs to reach and is also the starting point of the cutting track; the target cutting angle is the inclined angle of the cutting nozzle relative to the surface of the object to be cut; the target cutting track, namely the actual cutting line of the cutting nozzle.

And S220, controlling the robot body to move to the target position point, and adjusting the posture of the robot body according to the posture information recorded by the gyroscope.

In the moving process of the cutting robot, the posture information may be changed, so that after the cutting robot reaches the target position point, the posture of the robot body needs to be adjusted according to the posture information recorded by the gyroscope.

And S230, controlling the cutting nozzle to move to the target cutting point through the movement control module, and adjusting the cutting nozzle to the target cutting angle through the angle adjusting unit.

And S240, controlling the cutting nozzle to execute cutting operation along the target cutting track through the mobile control module.

According to the technical scheme provided by the embodiment of the invention, the robot body is controlled to move to the target position point according to the task information obtained by analyzing the target cutting task, the cutting nozzle is controlled to move to the target cutting point through the mobile control module, the cutting nozzle is adjusted to the target cutting angle through the angle adjusting unit, and the cutting nozzle is controlled to cut along the target cutting track through the mobile control module, so that the mechanized cutting operation is realized, and the cutting efficiency and the cutting precision are greatly improved.

EXAMPLE III

Fig. 3 is a block diagram of a cutting device according to a third embodiment of the present invention, where the cutting device specifically includes: a cutting task parsing module 310, a position and posture control module 320, a cutting nozzle control module 330, and an internal cutting operation execution module 340.

The cutting task analysis module 310 is configured to analyze a target cutting task to obtain task information when the target cutting task is obtained; the task information comprises a target position point, a target cutting angle and a target cutting track;

the position and posture control module 320 is used for controlling the robot body to move to the target position point and adjusting the posture of the robot body according to the posture information recorded by the gyroscope;

the cutting nozzle control module 330 is configured to control the cutting nozzle to move to the target cutting point through the movement control module, and adjust the cutting nozzle to the target cutting angle through the angle adjustment unit;

a cutting operation executing module 340, configured to control, by the movement control module, the cutting nozzle to execute a cutting operation along the target cutting trajectory.

According to the technical scheme provided by the embodiment of the invention, the robot body is controlled to move to the target position point according to the task information obtained by analyzing the target cutting task, the cutting nozzle is controlled to move to the target cutting point through the mobile control module, the cutting nozzle is adjusted to the target cutting angle through the angle adjusting unit, and the cutting nozzle is controlled to cut along the target cutting track through the mobile control module, so that the mechanized gas cutting operation is realized, and the cutting efficiency and the cutting precision are greatly improved.

The device can execute the cutting method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, reference may be made to the method provided in any embodiment of the present invention.

Example four

The fourth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the cutting method according to any embodiment of the present invention, and specifically includes:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A cutting robot, comprising: the robot comprises a cutting execution module, a movement control module and a robot body; the cutting execution module and the movement control module are both positioned above the robot body;

the clamping unit is used for clamping the cutting nozzle;

the adjusting valve is used for adjusting the gas flow in the cutting nozzle;

2. The cutting robot of claim 1, wherein the movement control module comprises a lateral control module, a longitudinal control module, and a height control module;

3. A cutting robot according to claim 1 or 2, characterized in that the movement control module comprises a ball screw.

4. The cutting robot of claim 1, wherein the robot body includes a frame, track wheels, and a power module;

the frame is used for bearing the crawler wheels and the power module.

5. The cutting robot of claim 4, wherein the robot body further comprises an adsorption module;

6. The cutting robot as claimed in claim 5, wherein the object to be cut is a magnetically conductive material; the adsorption module comprises a magnetic adsorption module.

7. The cutting robot of claim 4, wherein the robot body further comprises a gyroscope and/or an edge detection sensor;

8. A method of cutting, comprising:

9. A cutting device, comprising:

10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the cutting method according to claim 8.