CN113843527A

CN113843527A - Laser cutting industrial robot for irregular pipeline section and cutting method

Info

Publication number: CN113843527A
Application number: CN202111115571.6A
Authority: CN
Inventors: 张�浩
Original assignee: Nanjing Heshang Technology Co ltd
Current assignee: Nanjing Heshang Technology Co ltd
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2021-12-28

Abstract

The invention discloses an industrial robot for laser cutting of irregular pipeline sections and a cutting method, and the industrial robot comprises a supporting plate, wherein a moving device is arranged on one side of the top end of the supporting plate, a fixed plate is arranged on the top of the moving device, a first motor is arranged on one side of the fixed plate, a rotary table is arranged at the output end of the first motor in a penetrating mode and penetrates through the fixed plate, a clamping device is arranged on the other side of the rotary table, a metal pipe is arranged in the middle of the clamping device, a supporting block is arranged on one side of the moving device, a supporting column is arranged at the top end of the supporting block, a mechanical arm is arranged at the top of the supporting column, an adjusting device is arranged at the bottom end of the mechanical arm, a laser cutting head is arranged at the bottom end of the adjusting device and is located right above one end of the metal pipe, and a controller is arranged at the bottom of the supporting plate. Has the advantages that: the practicability, the comprehensiveness and the diversity of the laser cutting industrial robot are improved, and the cleanliness of the laser cutting industrial robot and the service life of the laser cutting industrial robot are guaranteed.

Description

Laser cutting industrial robot for irregular pipeline section and cutting method

Technical Field

The invention belongs to the technical field of laser cutting, and particularly relates to an industrial robot for laser cutting of an irregular pipeline section and a cutting method.

Background

Laser cutting is used as a modern precision machining method, and is characterized in that a workpiece is irradiated by a focused high-power-density laser beam, so that the irradiated material is quickly melted, vaporized and ablated or reaches a burning point, and meanwhile, a high-speed airflow coaxial with the laser beam is used for blowing off molten substances, so that the workpiece is cut off; laser cutting belongs to one of thermal cutting methods; compared with the traditional processing method, the laser cutting method has the advantages of good cutting quality, high cutting efficiency, accurate size, high cutting speed, strong adaptability and flexibility, no contact in the cutting process, various types of cuttable materials and the like. The cutting quality is superior to other thermal cutting methods, almost all metal materials can be cut by laser, and the cutting thickness can be varied from a few micrometers to 50 millimeters.

For example, patent No. CN109500503A discloses a laser cutting device for a large irregular pipeline section, which adopts coaxial fixed connection of a forward and a reverse lead screw nut pair to realize automatic balance of a rotation center, and uses infrared distance measurement to realize dynamic adjustment between a laser head and the inner wall of a pipeline so as to adapt to pipeline sections of different shapes; adopt servo motor and the vice directly linking of positive reverse screw nut to directly drive, realize the closed loop control of accommodation process, thereby avoid the loaded down with trivial details adjustment in advance and the location to the cutting machine, however, because this laser cutting device carries out the inside cutting of pipeline to the large-scale pipeline, thereby can't get into inside the small-size pipeline, and then can not carry out irregular pipeline sectional cutting to the small-size pipeline, and make the piece of cutting can fall into each of this laser cutting device structurally, thereby be not convenient for clean, and then influence the life of laser cutting device, because this laser cutting device's laser cutting head can only carry out the straight line and adjust, thereby can not effectually carry out irregular pipeline sectional cutting to the pipeline, and then reduce this laser cutting device's practicality and incompleteness.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a laser cutting industrial robot and cutting method for irregular pipeline section to overcome the above-mentioned technical problem that prior art exists.

The technical scheme is as follows: according to one aspect of the invention, the laser cutting industrial robot for irregular pipeline sections comprises a supporting plate, wherein a moving device is arranged on one side of the top end of the supporting plate, a fixing plate is arranged on the top of the moving device, a first motor is arranged on one side of the fixing plate, a rotary table is arranged at the output end of the first motor in a penetrating mode and penetrates through the fixing plate, a clamping device is arranged on the other side of the rotary table, a metal pipe is arranged in the middle of the clamping device, a supporting block is arranged on one side of the moving device, the bottom end of the supporting block is arranged at the top end of the supporting plate, a supporting column is arranged at the top end of the supporting block, a mechanical arm is arranged at the top end of the supporting column, an adjusting device is arranged at the bottom end of the adjusting device, a laser cutting head is arranged right above one end of the metal pipe and is arranged at the bottom end of the supporting plate, a controller is arranged at the bottom end of the supporting plate, and the moving device, the first motor, a second motor is arranged at the bottom end of the supporting plate, a second motor is arranged at the middle of the supporting plate, a second motor, a metal pipe, a second motor is arranged at the supporting block, a supporting block is arranged at the supporting block, a supporting block, and a supporting block, a supporting block is arranged at the supporting block, and a supporting block is arranged at the supporting block, and a supporting block is arranged at the supporting block, and a supporting block, the supporting block, and a supporting block is arranged at the bottom of the supporting block, and a supporting block is arranged at the supporting block, and a supporting block, the supporting block is arranged at the supporting block, the, The mechanical arm and the adjusting device are electrically connected with the controller.

In further embodiment, in order to make clamping device can the level remove, thereby it removes to drive the tubular metal resonator level, thereby can make laser cutting head remove the tubular metal resonator at the in-process of cutting, and then effectually carry out irregular pipeline sectional cutting to the tubular metal resonator, and then improve laser cutting industrial robot's practicality and comprehensiveness, mobile device is including setting up the mounting panel on backup pad top, the middle part of mounting panel sets up the removal lead screw, the one end of removal lead screw is run through the mounting panel and is provided with the second motor, and the second motor sets up the one side at the mounting panel, the both sides of removal lead screw all are provided with the movable rail, and the both ends setting of movable rail is on the mounting panel, the cooperation is provided with the movable block on the removal lead screw, and the both sides of movable block all set up on the movable rail.

In a further embodiment, in order to effectively clamp metal tubes with different diameters so as to enable the laser cutting industrial robot to clamp the metal tubes with different specifications and further improve the diversity and adaptability of the laser cutting industrial robot, the clamping device comprises two groups of clamping mechanisms arranged on one side of a rotary table, a plurality of connecting plates are arranged between the two groups of clamping mechanisms, each clamping mechanism comprises an installation disc arranged on one side of the rotary table, a plurality of sliding grooves are formed in the installation disc, a plurality of racks are arranged in the sliding grooves, clamps are arranged on one sides of the racks and are matched with the installation disc, a lead screw is arranged in the middle of one rack in a matched manner, two ends of the lead screw are arranged on the installation disc in a matched manner, a clamping handle is arranged at one end of the lead screw, guide rails are arranged in the middle of the racks, and are arranged on the installation disc, the middle part of mounting disc is provided with the gear, and gear and a plurality of rack toothing set up, and a plurality of first chutes have been seted up to one side of rack, and one side of anchor clamps is provided with the second chute with rack matched with, and one side of mounting disc is provided with a plurality of T-slot with the both ends matched with of anchor clamps.

In a further embodiment, in order to enable the laser cutting head to be adjusted in multiple angles and further enable the laser cutting head to cut irregular pipeline sections on a metal pipe, thereby effectively cutting different sections and further improving the practicability and comprehensiveness of the laser cutting industrial robot, the adjusting device comprises a mounting frame arranged at the bottom end of a mechanical arm, a third motor is arranged at the inner top of the mounting frame, a rotating shaft is arranged at the output end of the third motor, a sleeve is arranged outside the circumference of the rotating shaft, the top end of the sleeve is arranged at the bottom end of the mounting frame, a lifting mechanism is sleeved on the outer side wall of the sleeve, an adjusting piece is arranged at the bottom of the lifting mechanism in a matched manner, the middle of the adjusting piece is arranged at the bottom of the rotating shaft in a matched manner, the lifting mechanism comprises a lifting frame sleeved on the outer side wall of the sleeve, a clamping groove is formed at the top of the lifting frame, two rotating plates are arranged on the clamping groove in a matched manner, the other end of two rotor plates is provided with double-end motor, and double-end motor's top is provided with the motor mount pad, and the top of motor mount pad sets up the bottom at the mounting bracket, and the bottom of crane is provided with and rotates the groove with regulating part matched with, and the regulating part is including setting up the turning block in the pivot bottom, and one side of turning block is provided with and rotates the groove matched with rotation post, and rotates the eccentric setting of post, and the opposite side of turning block is provided with the regulating plate.

According to another aspect of the present invention, there is provided a cutting method for a laser cutting industrial robot for irregular pipe sections, the method comprising the steps of:

placing the metal pipe into a clamping device for clamping;

starting the moving device through the controller to adjust the distance of the metal pipe;

starting a first motor to rotate the metal pipe through a controller;

starting an adjusting device through a controller to adjust the position of the laser cutting head;

and cutting the metal pipe according to the required irregular pipeline end surface.

Has the advantages that:

1. through setting up mobile device, first motor, clamping device and adjusting device to can effectually carry out irregular pipeline sectional cutting to the tubular metal resonator of different specifications, and the staff of being convenient for cleans, and then improves laser cutting industrial robot's practicality and comprehensive nature, guarantees laser cutting industrial robot's cleanliness and improves laser cutting industrial robot's life, and improves laser cutting industrial robot's variety and adaptability.

2. Through setting up the mobile device to make clamping device can the level remove, thereby drive the tubular metal resonator level and remove, thereby can make the laser cutting head remove the tubular metal resonator at the in-process of cutting, and then effectually carry out irregular pipeline sectional cutting to the tubular metal resonator, and then improve laser cutting industrial robot's practicality and comprehensiveness.

3. Through setting up first motor to make clamping device can rotate, thereby drive the tubular metal resonator and rotate, thereby can make the laser cutting head when the cutting, the metal fillings drop downwards on the top of backup pad, thereby the staff of being convenient for cleans, and then guarantees laser cutting industrial robot's cleanliness and improvement laser cutting industrial robot's life.

4. Through setting up clamping device to the tubular metal resonator of different diameters of effectual centre gripping, thereby make laser cutting industrial robot carry out the centre gripping to the tubular metal resonator of different specifications, and then improve laser cutting industrial robot's variety and adaptability.

5. Through setting up adjusting device to make the laser cutting head can the multi-angle be adjusted, and then make the laser cutting head can carry out the sectional cutting of irregular pipeline to the tubular metal resonator, thereby the different section of effectual cutting, and then improve laser cutting industrial robot's practicality and comprehensiveness.

Drawings

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

FIG. 1 is one of perspective views of a laser cutting industrial robot for irregular pipe sections according to an embodiment of the present invention;

FIG. 2 is a second perspective view of a laser cutting industrial robot for irregular pipe sections in accordance with an embodiment of the present invention;

FIG. 3 is an enlarged view of a portion of FIG. 2 at A;

FIG. 4 is a schematic structural diagram of a clamping device of a laser cutting industrial robot for irregular pipe sections according to an embodiment of the invention;

FIG. 5 is a schematic view of a clamping device assembly of a laser cutting industrial robot for irregular pipe sections according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the internal structure of a clamping device of a laser cutting industrial robot for irregular pipe sections according to an embodiment of the invention;

FIG. 7 is a schematic structural view of a mounting plate of a laser cutting industrial robot for irregular pipeline sections according to an embodiment of the invention;

FIG. 8 is a cross-sectional view of a mounting plate of a laser cutting industrial robot for irregular pipe sections according to an embodiment of the present invention;

FIG. 9 is one of schematic structural views of an adjusting device of a laser cutting industrial robot for irregular pipeline sections according to an embodiment of the invention;

FIG. 10 is a second schematic structural view of an adjusting device of a laser cutting industrial robot for irregular pipeline sections according to an embodiment of the invention;

FIG. 11 is a schematic structural view of a crane of a laser cutting industrial robot for irregular pipeline sections according to an embodiment of the invention;

fig. 12 is a schematic structural view of an adjusting part of a laser cutting industrial robot for irregular pipeline sections according to an embodiment of the invention.

In the figure:

1. a support plate; 2. a mobile device; 201. mounting a plate; 202. moving the screw rod; 203. a second motor; 204. a moving guide rail; 205. a moving block; 3. a fixing plate; 4. a first motor; 5. a turntable; 6. a clamping device; 601. a clamping mechanism; 60101. mounting a disc; 60102. a sliding groove; 60103. a rack; 60104. a clamp; 60105. a screw rod; 60106. a grip handle; 60107. a guide rail; 60108. a gear; 602. a connecting plate; 7. a metal tube; 8. a support block; 9. a support pillar; 10. a mechanical arm; 11. an adjustment device; 1101. a mounting frame; 1102. a third motor; 1103. a rotating shaft; 1104. a sleeve; 1105. a lifting mechanism; 110501, a lifting frame; 110502, a card slot; 110503, a rotating plate; 110504, double-head motor; 110505, a motor mounting seat; 110506, a rotating groove; 1106. an adjustment member; 110601, a turning block; 110602, rotating column; 110603, adjusting plate; 12. a laser cutting head; 13. and a controller.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

According to the embodiment of the invention, the laser cutting industrial robot and the cutting method for the irregular pipeline section are provided.

As shown in fig. 1-3, the laser cutting industrial robot for irregular pipeline sections according to the embodiment of the present invention comprises a supporting plate 1, a moving device 2 is arranged on one side of the top end of the supporting plate 1, a fixed plate 3 is arranged on the top of the moving device 2, a first motor 4 is arranged on one side of the fixed plate 3, the output end of the first motor 4 penetrates through the fixed plate 3 and is provided with a turntable 5, a clamping device 6 is arranged on the other side of the turntable 5, a metal pipe 7 is arranged in the middle of the clamping device 6, a supporting block 8 is arranged on one side of the moving device 2, the bottom end of the supporting block 8 is arranged on the top end of the supporting plate 1, a supporting column 9 is arranged on the top end of the supporting column 9, a mechanical arm 10 is arranged on the top end of the mechanical arm 10, an adjusting device 11 is arranged on the bottom end of the mechanical arm 10, a laser cutting head 12 is arranged on the bottom end of the adjusting device 11, and the laser cutting head 12 is positioned right above one end of the metal pipe 7, the bottom of the supporting plate 1 is provided with a controller 13, and the moving device 2, the first motor 4, the mechanical arm 10 and the adjusting device 11 are all electrically connected with the controller 13.

As shown in fig. 1-2, in an embodiment, for the above-mentioned moving device 2, the moving device 2 includes a mounting plate 201 disposed on the top end of the supporting plate 1, a moving screw 202 is disposed in the middle of the mounting plate 201, one end of the moving screw 202 penetrates the mounting plate 201 and is provided with a second motor 203, the second motor 203 is disposed on one side of the mounting plate 201, both sides of the moving screw 202 are provided with moving rails 204, both ends of the moving rails 204 are disposed on the mounting plate 201, a moving block 205 is disposed on the moving screw 202 in a matching manner, and both sides of the moving block 205 are disposed on the moving rails 204, so that the clamping device 6 can move horizontally, thereby driving the metal pipe 7 to move horizontally, thereby enabling the laser cutting head 12 to move the metal pipe 7 during cutting, and further effectively cut irregular pipe sections on the metal pipe 7, and then improve laser cutting industrial robot's practicality and comprehensive nature.

The working principle of the mobile device 2 is as follows: when the positions of the metal pipe 7 and the laser cutting head 12 need to be adjusted, the controller 13 starts the second motor 203 to rotate, so that the movable screw rod 202 is driven to rotate, the movable block 205 is driven to move along the movable guide rail 204, and the position of the clamping metal pipe 7, which needs to cut the section of the irregular pipeline, is adjusted.

As shown in fig. 1-2 and 4-8, in an embodiment, for the above-mentioned clamping device 6, the clamping device 6 includes two sets of clamping mechanisms 601 disposed on one side of the turntable 5, a plurality of connecting plates 602 are disposed between the two sets of clamping mechanisms 601, the clamping mechanisms 601 include a mounting plate 60101 disposed on one side of the turntable 5, a plurality of sliding grooves 60102 are disposed inside the mounting plate 60101, a plurality of racks 60103 are disposed in the sliding grooves 60102, a clamp 60104 is disposed on one side of each rack 60103, the clamp 60104 is disposed in cooperation with the mounting plate 60101, a lead screw 60105 is disposed in cooperation with the middle of one rack 60103, two ends of the lead screw 60105 are disposed in cooperation with the mounting plate 60101, one end of the lead screw 60105 is disposed with a clamping handle 60106, a guide rail 07 is disposed in addition in the middle of each rack 60103, the guide rail 60107 is disposed on the mounting plate 60101, a gear 60108 is disposed in cooperation with the plurality of racks 60103, a plurality of first chutes have been seted up to one side of rack 60103, one side of anchor clamps 60104 be provided with rack 60103 matched with second chute, one side of mounting disc 60101 be provided with a plurality of T-shaped grooves of both ends matched with of anchor clamps 60104 to can the different diameter's of effectual centre gripping tubular metal resonator 7, thereby make laser cutting industrial robot carry out the centre gripping to the tubular metal resonator 7 of different specifications, and then improve laser cutting industrial robot's variety and adaptability.

The operating principle of the clamping device 6 is as follows: when the metal pipe 7 needs to be clamped, the metal pipe 7 is placed into the clamping device 6, a worker rotates the clamping handle 60106 in a screwing mode to drive the screw rod 60105 to rotate, the rack 60103 is driven to move, the gear 60108 rotates, other racks 60103 are driven to move along the guide rail 60107, the plurality of racks 60103 drive the plurality of clamps 60104 to move towards the metal pipe 7 at the same time, the metal pipe 7 is clamped effectively, and in the same step, the other group of clamping mechanisms 601 clamp the metal pipe 7, so that the metal pipe 7 is clamped more stably and firmly;

when the cut metal tube 7 needs to be taken out, the clamping handle 60106 is reversely screwed by a worker to rotate, so that the screw rod 60105 is driven to reversely rotate, the driving rack 60103 moves, the gear 60108 rotates, other racks 60103 are driven to move along the guide rail 60107, the plurality of racks 60103 are driven to move towards the direction far away from the metal tube 7 by the plurality of clamps 60104 simultaneously, the metal tube 7 is loosened, the same step is carried out, the metal tube 7 is loosened by another group of clamping mechanisms 601, and the cut metal tube 7 with the irregular pipeline section is taken out.

As shown in fig. 1-3 and 9-12, in an embodiment, for the above adjusting device 11, the adjusting device 11 includes a mounting rack 1101 disposed at the bottom end of the robot 10, a third motor 1102 is disposed at the inner top of the mounting rack 1101, an output end of the third motor 1102 is provided with a rotating shaft 1103, a sleeve 1104 is disposed at the outer circumferential side of the rotating shaft 1103, a top end of the sleeve 1104 is disposed at the bottom end of the mounting rack 1101, an outer side wall of the sleeve 1104 is sleeved with a lifting mechanism 1105, a bottom of the lifting mechanism 1105 is provided with an adjusting piece 1106 in a matching manner, a middle of the adjusting piece 1106 is provided at the bottom of the rotating shaft 1103 in a matching manner, the lifting mechanism 1105 includes a lifting bracket 110501 sleeved at the outer side wall of the sleeve 1104, a top of the lifting bracket 110502 is provided with a clamping groove 110502, two rotating plates 110503 are provided on the clamping groove 110502 in a matching manner, the other ends of the two rotating plates are provided with a double-head motor 110504, a top of the double-head motor mounting bracket 110505 is provided at the top of the double-head motor 110504, the top setting of motor mount 110505 is in the bottom of mounting bracket 1101, crane 110501's bottom is provided with and rotates groove 110506 with regulating part 1106 matched with, regulating part 1106 is including setting up rotating block 110601 in pivot 1103 bottom, one side of rotating block 110601 is provided with and rotates groove 110406 matched with rotation post 110602, and rotate post 110602 eccentric settings, the opposite side of rotating block 110601 is provided with regulating plate 110603, thereby make laser cutting head 12 can the multi-angle modulation, and then make laser cutting head 12 can carry out the sectional cutting of irregular pipeline to tubular metal resonator 7, thereby the different section of effectual cutting, and then improve laser cutting industrial robot's practicality and comprehensive.

The operating principle of the adjusting device 11 is as follows: when laser cutting head 12 is adjusted to needs, start third motor 1102 through controller 13 and rotate, thereby drive pivot 1103 and rotate, thereby make regulating part 1106 rotate, start double-end motor 110504 through controller 13 simultaneously and rotate, thereby drive the rotor plate and rotate, thereby drive crane 110501 up-and-down motion, and then drive the rotation post 110602 and rotate, thereby make regulating plate 110603 rotate, and then can multi-angle regulation laser cutting head 12, and then can effectual cutting irregular pipeline section.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In practical application, firstly, the metal tube 7 is placed into the clamping device 6, a worker screws the clamping handle 60106 to rotate, so as to drive the screw rod 60105 to rotate, so as to drive the rack 60103 to move, so as to drive the gear 60108 to rotate, so as to drive other racks 60103 to move along the guide rail 60107, so as to drive the plurality of racks 60103 to simultaneously drive the plurality of clamps 60104 to move towards the metal tube 7, so as to effectively clamp the metal tube 7, in the same step, another group of clamping mechanisms 601 clamps the metal tube 7, so as to make the clamped metal tube 7 more stable and firm, then the controller 13 is used to start the second motor 203 to rotate, so as to drive the movable screw rod 202 to rotate, so as to drive the movable block 205 to move along the movable guide rail 204, so as to adjust the position of the clamped metal tube 7, which needs to cut the section of the irregular pipeline, and the controller 13 is used to start the first motor 4 to rotate, so as to drive the turntable 5 to rotate, thereby make clamping device 6 rotate, and then make tubular metal resonator 7 rotate, at this moment, start third motor 1102 through controller 13 and rotate, thereby drive pivot 1103 and rotate, thereby make regulating part 1106 rotate, start double-end motor 110504 through controller 13 simultaneously and rotate, thereby drive the rotor plate and rotate, thereby drive crane 110501 up-and-down motion, and then drive rotation post 110602 and rotate, thereby make regulating plate 110603 rotate, and then can the multi-angle adjust laser cutting head 12, and then can effectual cutting irregular pipeline section, accomplish the cutting.

After the cutting is accomplished, the staff reversely twists the centre gripping handle 60106 and rotates, thereby drive lead screw 60105 reverse rotation, thereby drive rack 60103 and remove, thereby make gear 60108 rotate, thereby drive other rack 60103 and remove along guide rail 60107, and then make a plurality of racks 60103 drive a plurality of anchor clamps 60104 simultaneously and all to keeping away from tubular metal resonator 7 direction motion, and then loosen tubular metal resonator 7, same step, loosen tubular metal resonator 7 with another group of fixture 601, take out tubular metal resonator 7 of the irregular pipeline section that will cut, accomplish taking out of cutting tubular metal resonator 7.

There is also provided, in accordance with an embodiment of the present invention, a cutting method for a laser cutting industrial robot for irregular pipe sections, the method including the steps of:

placing the metal tube 7 into a clamping device 6 for clamping;

the controller 13 starts the moving device 2 to adjust the distance of the metal tube 7;

starting the first motor 4 to rotate the metal tube 7 through the controller 13;

starting the adjusting device 11 through the controller 13 to adjust the position of the laser cutting head 12;

the metal tube 7 is cut according to the required irregular tube end surface.

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

Claims

1. A laser cutting industrial robot for irregular pipeline section, including backup pad (1), its characterized in that:

a moving device (2) is arranged on one side of the top end of the supporting plate (1), a fixing plate (3) is arranged on the top of the moving device (2), a first motor (4) is arranged on one side of the fixing plate (3), the output end of the first motor (4) penetrates through the fixing plate (3) to be provided with a rotating disc (5), a clamping device (6) is arranged on the other side of the rotating disc (5), and a metal pipe (7) is arranged in the middle of the clamping device (6);

a supporting block (8) is arranged on one side of the moving device (2), the bottom end of the supporting block (8) is arranged at the top end of the supporting plate (1), a supporting column (9) is arranged at the top end of the supporting block (8), a mechanical arm (10) is arranged at the top of the supporting column (9), an adjusting device (11) is arranged at the bottom end of the mechanical arm (10), a laser cutting head (12) is arranged at the bottom end of the adjusting device (11), and the laser cutting head (12) is positioned right above one end of the metal pipe (7);

the bottom of the supporting plate (1) is provided with a controller (13), and the moving device (2), the first motor (4), the mechanical arm (10) and the adjusting device (11) are electrically connected with the controller (13).

2. The laser cutting industrial robot for irregular pipeline sections as claimed in claim 1, wherein the moving device (2) comprises a mounting plate (201) arranged at the top end of the support plate (1), a moving screw rod (202) is arranged in the middle of the mounting plate (201), one end of the moving screw rod (202) penetrates through the mounting plate (201) to be provided with a second motor (203), the second motor (203) is arranged at one side of the mounting plate (201), moving guide rails (204) are arranged at two sides of the moving screw rod (202), two ends of each moving guide rail (204) are arranged on the mounting plate (201), a moving block (205) is arranged on the moving screw rod (202) in a matching manner, and two sides of each moving block (205) are arranged on the corresponding moving guide rails (204).

3. A laser cutting industrial robot for irregular pipe sections according to claim 1, characterized in that the gripping device (6) comprises two sets of gripping means (601) arranged on one side of the turntable (5), between which sets of gripping means (601) several connection plates (602) are arranged.

4. The laser cutting industrial robot for irregular pipeline sections as claimed in claim 1, wherein the adjusting device (11) comprises a mounting frame (1101) arranged at the bottom end of the mechanical arm (10), a third motor (1102) is arranged at the inner top of the mounting frame (1101), a rotating shaft (1103) is arranged at the output end of the third motor (1102), a sleeve (1104) is arranged at the outer side of the circumference of the rotating shaft (1103), the top end of the sleeve (1104) is arranged at the bottom end of the mounting frame (1101), a lifting mechanism (1105) is sleeved on the outer side wall of the sleeve (1104), an adjusting piece (1106) is arranged at the bottom of the lifting mechanism (1105) in a matching manner, and the middle of the adjusting piece (1106) is arranged at the bottom of the rotating shaft (1103) in a matching manner.

5. The laser cutting industrial robot for irregular pipeline sections according to claim 3, wherein the clamping mechanism (601) comprises a mounting disc (60101) arranged on one side of the rotating disc (5), a plurality of sliding grooves (60102) are formed in the mounting disc (60101), a plurality of racks (60103) are arranged in the sliding grooves (60102), a clamp (60104) is arranged on one side of each rack (60103), the clamp (60104) is matched with the mounting disc (60101), a lead screw (60105) is arranged in the middle of one rack (60103) in a matching manner, two ends of the lead screw (60105) are arranged on the mounting disc (60101) in a matching manner, a clamping handle (60106) is arranged at one end of the lead screw (60105), a guide rail (60107) is arranged in the middle of the rack (60103), and the guide rails (60107) are arranged on the mounting disc (60101), a gear (60108) is arranged in the middle of the mounting plate (60101), and the gear (60108) is meshed with the racks (60103).

6. The laser cutting industrial robot for irregular pipeline sections according to claim 5, characterized in that one side of the rack (60103) is provided with a plurality of first chutes, and one side of the clamp (60104) is provided with a second chute matched with the rack (60103).

7. A laser cutting industrial robot for irregular pipe sections according to claim 6, characterized in that one side of the mounting disc (60101) is provided with T-shaped slots that fit with both ends of the clamp (60104).

8. The laser cutting industrial robot for the irregular pipeline sections according to claim 4, wherein the lifting mechanism (1105) comprises a lifting frame (110501) sleeved on the outer side wall of the sleeve (1104), a clamping groove (110502) is formed in the top of the lifting frame (110501), two rotating plates (110503) are arranged on the clamping groove (110502) in a matched mode, a double-head motor (110504) is arranged at the other end of each rotating plate, a motor mounting seat (110505) is arranged on the top of the double-head motor (110504), the top end of the motor mounting seat (110505) is arranged at the bottom end of the mounting frame (1101), and a rotating groove (110506) matched with the adjusting piece (1106) is formed in the bottom of the lifting frame (110501).

9. The laser cutting industrial robot for irregular pipe sections as claimed in claim 8, characterized in that the adjusting piece (1106) comprises a rotating block (110601) arranged at the bottom of the rotating shaft (1103), one side of the rotating block (110601) is provided with a rotating column (110602) matched with the rotating groove (110406), the rotating column (110602) is eccentrically arranged, and the other side of the rotating block (110601) is provided with an adjusting plate (110603).

10. Cutting method for a laser cutting industrial robot for irregular pipe sections, for the cutting of a laser cutting industrial robot for irregular pipe sections according to any of the claims 1-9, characterized in that the method comprises the following steps:

placing the metal pipe (7) into the clamping device (6) for clamping;

the controller (13) starts the moving device (2) to adjust the distance of the metal pipe (7);

starting a first motor (4) to rotate the metal pipe (7) through the controller (13);

starting an adjusting device (11) through the controller (13) to adjust the position of the laser cutting head (12);

and cutting the metal pipe (7) according to the required irregular pipeline end surface.