CN116532822A - Double-robot-coordinated laser cutting method and equipment for metal special-shaped tube - Google Patents
Double-robot-coordinated laser cutting method and equipment for metal special-shaped tube Download PDFInfo
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- CN116532822A CN116532822A CN202310822588.8A CN202310822588A CN116532822A CN 116532822 A CN116532822 A CN 116532822A CN 202310822588 A CN202310822588 A CN 202310822588A CN 116532822 A CN116532822 A CN 116532822A
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- 239000002184 metal Substances 0.000 title claims abstract description 146
- 238000003698 laser cutting Methods 0.000 title claims abstract description 66
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000005520 cutting process Methods 0.000 claims abstract description 77
- 238000005452 bending Methods 0.000 claims description 20
- 230000005477 standard model Effects 0.000 claims description 13
- 238000007599 discharging Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 8
- 230000009977 dual effect Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000003754 machining Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000004080 punching Methods 0.000 description 4
- 230000000670 limiting effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of laser cutting, in particular to a double-robot cooperative metal special-shaped tube laser cutting method and equipment; the method comprises the following steps: establishing a world coordinate system, and determining the pose of a clamping jaw, a laser cutting head and a three-dimensional scanner in the world coordinate system; the first robot controls the clamping jaw to clamp the metal special-shaped tube; the two robots cooperate with each other to enable the three-dimensional scanner to scan the metal special-shaped tube, so as to obtain an actual model and a pose of the metal special-shaped tube; planning a cutting path of two robots matched with each other according to the actual model and the pose of the metal special-shaped tube; the two robots cooperate with each other to enable the laser cutting head to cut the metal special-shaped tube. The dual-robot cooperative metal special-shaped tube laser cutting method and equipment do not need to be provided with special clamps, are low in production cost and high in machining precision, and can greatly reduce the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of laser cutting, in particular to a double-robot cooperative laser cutting method and equipment for a metal special-shaped tube.
Background
With the development of industrial technology, traditional machining modes are gradually replaced by novel machining modes. If the traditional punching processing is completed by using punching equipment and a punching die, but at present, laser cutting holes are adopted to replace the traditional punching, and the laser cutting equipment cuts out needed holes on the parts to be processed, so that the flexibility is high.
The current laser cutting device has the following conditions when cutting a metal special-shaped tube (a bent metal tube): because the metal special-shaped tube is bent, no matter the bending precision is insufficient or the metal tube rebounds itself after bending, and other factors, errors exist between the actual shape and the ideal shape of the metal special-shaped tube, and the laser cutting head cuts according to a preset cutting track, so that the position of the cut cutting structure is deviated relative to the metal special-shaped tube, and the machining precision is insufficient. In order to improve the cutting precision, the metal special-shaped tube is clamped by the clamp in the prior art, the clamp has the clamping function and the correcting function, the clamp enables the metal special-shaped tube to be clamped to an ideal shape, and then the laser cutting equipment cuts the metal special-shaped tube. However, this also makes it necessary to use a large number of jigs when carrying out the continuous production, and to arrange different jigs when facing metal pipes of different shape and size, resulting in high cost of jigs; in addition, this kind of production method needs the staff to constantly get in anchor clamps and put metal abnormal shape pipe, needs the accurate metal abnormal shape pipe of placing when the centre gripping, and this also puts forward certain requirement to the operational fineness of staff, appears easily putting the error that leads to inadequately, and then influences machining precision, and staff's intensity of labour is also high.
The above problems are urgently needed to be solved.
Disclosure of Invention
The invention aims to provide a double-robot cooperative metal special-shaped tube laser cutting method and equipment, and aims to solve the problems of high cost, insufficient machining precision and high labor intensity caused by the need of using a clamp when the metal special-shaped tube is subjected to laser cutting in the prior art.
In order to achieve the aim, the invention provides a laser cutting method for a metal special-shaped tube by a double robot, wherein the metal special-shaped tube is a continuous tube formed by a plurality of structural sections, the structural sections comprise a straight line section and a bending section, two robots are adopted and are cooperatively controlled by a controller, a first robot is provided with a clamping jaw for clamping the metal special-shaped tube, and a second robot is provided with a laser cutting head and a three-dimensional scanner; the method comprises the following steps: s10, establishing a world coordinate system, calibrating the relation between the base coordinate systems of the two robots and the world coordinate system, determining the pose of the clamping jaw in the base coordinate system of the first robot and the pose of the laser cutting head and the three-dimensional scanner in the base coordinate system of the second robot through hand-eye calibration, and converting the pose of the clamping jaw, the laser cutting head and the three-dimensional scanner in the world coordinate system; s20, controlling a clamping jaw to clamp a metal special-shaped tube by a first robot; s30, the two robots cooperate with each other to enable the three-dimensional scanner to scan the metal special-shaped tube, so as to obtain an actual model and a pose of the metal special-shaped tube; s40, planning a cutting path of the two robots matched with each other according to the actual model and the pose of the metal special-shaped tube; s50, the two robots cooperate with each other to enable the laser cutting head to cut the metal special-shaped tube.
Further, before step S20, step S11 is further included: inputting a metal special-shaped tube standard model into a controller, setting the position and angle of clamping the metal special-shaped tube by a clamping jaw, and planning a collision-free scanning path of the mutual cooperation action of two robots by the controller.
Further, the second robot is provided with an anti-collision device, and when the step S30 is performed, if the three-dimensional scanner or the laser cutting head collides with the metal special-shaped tube, the anti-collision device sends a signal to the controller, and the step S31 is performed: the controller controls the three-dimensional scanner to stop scanning, compares the scanned metal special-shaped tube actual model with the metal special-shaped tube standard model to obtain deviation values of the metal special-shaped tube actual model relative to the metal special-shaped tube standard model in pose and shape, reschedules collision-free scanning paths of the two robots in mutual cooperation according to the deviation values, and executes step S30 again until the scanning of the metal special-shaped tube is completed.
Further, in step S40, the method for planning the cutting path of the two robots in cooperation with each other includes: dividing a standard model of the metal special-shaped tube into a plurality of standard structural sections, dividing boundaries among the standard structural sections into junctions of straight line sections and bending sections, and obtaining relative position information of each standard cutting structure in each standard structural section; dividing the metal special-shaped tube actual model into a plurality of actual structural sections, dividing boundaries between the actual structural sections into junctions of straight line sections and bending sections, respectively obtaining the pose of each actual structural section, obtaining the pose of each actual cutting structure by means of conversion calculation of the relative position information, and planning a cutting path according to the pose of each actual cutting structure.
Further, in step S50, after cutting of all the cutting structures on one structural section is completed, whether the structural section is a bending section is determined, if not, the subsequent cutting is continued; if so, go to step S51: the two robots cooperate with each other to enable the three-dimensional scanner to scan the uncut structural section to obtain the latest shape and position of the uncut structural section, the latest shape and position of the uncut structural section are compared with the actual model and position of the metal special-shaped tube obtained in the step S30, whether the two are consistent or not is judged, if so, the cutting is continued according to the original cutting path; if not, go to step S52: planning the latest cutting path of the two robots which are matched with each other to cut the uncut structural section according to the latest shape and pose of the uncut structural section; the two robots cooperate with each other to enable the laser cutting head to cut the uncut structural section in the latest cutting path; until all cutting actions are completed.
Further, in step S51, all the structural sections are sorted from front to back in accordance with the cutting path, and the three-dimensional scanner scans only the structural section next to the structural section that has just completed cutting.
Further, the cutting path is planned in such a way that the structural section close to the clamping jaw is cut first and then the structural section far away from the clamping jaw is cut.
The invention also provides a double-robot cooperative metal special-shaped tube laser cutting device which is used for realizing the double-robot cooperative metal special-shaped tube laser cutting method.
Further, the movable end of the second robot is provided with an anti-collision device, and the laser cutting head and the three-dimensional scanner are both arranged on the anti-collision device.
Further, the metal special-shaped tube feeding and discharging device comprises a feeding and discharging conveying device, wherein the feeding and discharging conveying device is provided with a conveying belt and a plurality of material racks arranged on the conveying belt, the first robot can grasp the metal special-shaped tube from the material racks of the feeding and conveying device, and the first robot can also put the metal special-shaped tube to the material racks of the discharging and conveying device; both robots are five-axis or more robots.
According to the dual-robot cooperative metal special-shaped tube laser cutting method, cutting of the metal special-shaped tube is completed by means of the two robots, during operation, the metal special-shaped tube is scanned by means of the three-dimensional scanner arranged on the second robot, after an actual model and a pose of the metal special-shaped tube are obtained, the two robots are cooperatively operated to achieve cutting of a cutting structure on the metal special-shaped tube, machining accuracy is high, special clamps are not required to be configured to clamp the metal special-shaped tube of different types, cost is low, excessive participation of workers is not required, and automation degree is high. The dual-robot cooperative metal special-shaped tube laser cutting equipment is used for realizing the method, and has the same benefits.
Drawings
FIG. 1 is a perspective view of a metal profile tube;
FIG. 2 is a step diagram of a dual robot coordinated metal profile laser cutting method of the present invention;
FIG. 3 is a perspective view of a dual robot coordinated metal profile laser cutting apparatus of the present invention;
FIG. 4 is a top view of a dual robot coordinated metal profile laser cutting apparatus of the present invention;
fig. 5 is a perspective view of a second robot and components mounted on its movable end;
fig. 6 is a front view of an anti-collision device, laser cutting head, and three-dimensional scanner.
Reference numerals illustrate:
011. a straight line segment; 012. a bending section; 013. cutting the structure;
1. a first robot; 11. a clamping jaw;
2. a second robot; 21. a laser cutting head; 22. a three-dimensional scanner; 23. an anti-collision device;
3. a feeding and conveying device;
4. and a blanking conveying device.
Detailed Description
The present invention will be described in detail with reference to specific examples.
In the present invention, unless explicitly stated and limited otherwise, when terminology such as "disposed," "connected," or "connected" is intended to be interpreted broadly, such as, for example, a fixed connection, a removable connection, or an integral connection; may be directly connected or connected through one or more intermediaries. The specific meaning of the terms described above in the present invention can be understood by those skilled in the art according to the specific circumstances. The direction words appearing in the invention are used for better explaining the characteristics of the features and the relation among the features, and it is understood that when the arrangement direction of the invention is changed, the characteristics of the features and the directions of the relation among the features are correspondingly changed, so that the direction words do not form absolute limiting effect on the characteristics of the features and the relation among the features in space, and only play a role in relative limiting.
The invention provides a laser cutting method for a metal special-shaped tube by cooperation of double robots. The metal special-shaped tube is shown in fig. 1, and is a continuous tube comprising a plurality of structural sections, wherein the structural sections comprise straight line sections 011 and bending sections 012, and the metal special-shaped tube is generally obtained by bending a straight tube for a plurality of times. Of course, the metal profile tube referred to in the present application is not limited to the metal profile tube having the structure shown in fig. 1, but refers to a metal profile tube having another shape including a straight line segment 011 and a bent segment 012.
The laser cutting method of the metal special-shaped tube by the cooperation of the two robots is characterized in that the two robots are preferably more than five robots. The two robots are cooperatively controlled by the controller, the first robot 1 is provided with the clamping jaw 11 for clamping the metal special-shaped tube, the second robot 2 is provided with the laser cutting head 21 and the three-dimensional scanner 22, each robot can complete complex actions, the two robots are mutually matched to realize three-dimensional 360-degree omnibearing scanning and cutting of the metal special-shaped tube, the operation coverage is comprehensive, the cutting structure 013 at each position can be cut, and the adaptability is strong.
In actual production, the purpose of cutting out the cutting structure 013 on the metal special-shaped tube is mainly for the convenience of connecting the metal special-shaped tube with other parts, the precision requirement on the cutting structure 013 is mainly to emphasize the relative position of the cutting structure 013 relative to the tube section where the cutting structure 013 is located (namely the structure section in the application), for example, when the metal special-shaped tube deflects a part of the tube section due to rebound and other factors, the cutting structure 013 on the tube section also deflects along with the tube section, thus, when the metal special-shaped tube is assembled with other parts subsequently, the metal special-shaped tube is aligned with the tube by force, the errors caused by rebound and other factors can be eliminated, and the position of each cutting structure 013 is identical to the ideal position at the moment, so that the smooth assembly of the whole product can be ensured. The clamp in the prior art clamps the metal special-shaped tube based on the processing principle, and the cutting method cuts the metal special-shaped tube based on the processing principle.
As shown in fig. 2 to 6, the dual-robot cooperative metal profile tube laser cutting method comprises the following steps:
s10, establishing a world coordinate system, calibrating the relation between the base coordinate systems of the two robots and the world coordinate system, determining the pose (namely the position and the pose) of the clamping jaw 11 in the base coordinate system of the first robot 1, the pose of the laser cutting head 21 and the three-dimensional scanner 22 in the base coordinate system of the second robot 2 through hand-eye calibration, and converting the pose into the pose of the clamping jaw 11, the pose of the laser cutting head 21 and the pose of the three-dimensional scanner 22 in the world coordinate system.
S20, the first robot 1 controls the clamping jaw 11 to clamp the metal special-shaped tube.
S30, the two robots cooperate with each other to enable the three-dimensional scanner 22 to scan the metal special-shaped tube, and an actual model and a pose of the metal special-shaped tube are obtained.
S40, planning a cutting path of the two robots matched with each other according to the actual model and the pose of the metal special-shaped tube.
S50, the two robots cooperate with each other to enable the laser cutting head 21 to cut the metal special-shaped tube.
Based on the above method steps, during operation, the three-dimensional scanner 22 arranged on the second robot 2 is used for scanning the metal special-shaped tube to obtain an actual model and a pose of the metal special-shaped tube, and then the two robots are used for cooperatively operating to realize cutting of the cutting structure 013 on the metal special-shaped tube.
In this embodiment, before step S20 is performed, step S11 is further included: the standard model of the metal special-shaped tube is input into the controller, the position and the angle of the clamping jaw 11 for clamping the metal special-shaped tube are set, and the controller plans a collision-free scanning path of the mutual cooperation action of the two robots. In this embodiment, by inputting the standard model of the metal special-shaped tube and combining the set position and angle of the clamping jaw 11 to clamp the metal special-shaped tube, the pose of the metal special-shaped tube in the world coordinate system can be basically obtained, and based on the pose data, the approximate scanning path can be preliminarily determined, and because the three-dimensional scanner 22 keeps a distance with the scanned object during scanning, the three-dimensional scanner 22 is not easy to collide with the metal special-shaped tube after the steps.
However, in practice, the influence of numerous factors makes it difficult to ensure that the jaws 11 grip the metal profile in the ideal condition, so that the components on the robot may collide.
For this reason, in the present embodiment, the anti-collision device 23 is mounted on the second robot 2, and when the three-dimensional scanner 22 or the laser cutting head 21 collides with the metal profile tube in step S30, the anti-collision device 23 sends a signal to the controller, and step S31 is performed: the controller controls the three-dimensional scanner 22 to stop scanning, compares the scanned metal special-shaped tube actual model with the metal special-shaped tube standard model to obtain deviation values of the metal special-shaped tube actual model relative to the metal special-shaped tube standard model in pose and shape, reschedules collision-free scanning paths of the two robots which act in a matched mode according to the deviation values, and executes step S30 again until the scanning of the metal special-shaped tube is completed. Through the above steps, it is ensured that all scans are completed.
In this embodiment, in step S40, the method for planning the mutually matched cutting paths of the two robots includes: dividing a standard model of the metal special-shaped tube into a plurality of standard structure sections, wherein the dividing boundary between the standard structure sections is the junction of a straight line section 011 and a bending section 012, and then obtaining the relative position information of each standard cutting structure 013 in each standard structure section; the metal special-shaped tube actual model is split into a plurality of actual structure sections, the dividing boundary between the actual structure sections is the junction of a straight line section 011 and a bending section 012, the pose of each actual structure section is obtained, the pose of each actual cutting structure 013 is obtained by means of the conversion calculation of the relative position information, and the cutting path is planned according to the pose of each actual cutting structure 013. By the method, the whole metal special-shaped tube is split into a plurality of independent structural sections, the pose of the cutting structure 013 on each independent structural section is limited by the pose data of each independent structural section, and therefore the accuracy of the position of the processed cutting structure 013 relative to the structural section can be ensured no matter how the structural section is offset, and the processing precision is improved.
In practice, a special case is encountered: the cutting structure 013 is located at the bending section 012, and internal stress exists in the bending section 012 due to bending, after the cutting structure 013 of the bending section 012 is cut, the previous internal stress may deform the bending section 012 due to structural change, and the deformation may further cause deformation of the metal special-shaped tube, thereby affecting the processing precision of the subsequent cutting structure 013.
For this purpose, the present embodiment adds a processing step in step S50: judging whether the structural section is a bending section 012 after cutting of all cutting structures 013 on one structural section is completed, if not, continuing to cut the following steps; if so, go to step S51: the two robots cooperate with each other to enable the three-dimensional scanner 22 to scan the uncut structural section to obtain the latest shape and position of the uncut structural section, the latest shape and position of the uncut structural section are compared with the actual model and position of the metal special-shaped tube obtained in the step S30, whether the two are consistent or not is judged, if so, the cutting is continued according to the original cutting path; if not, go to step S52: planning the latest cutting path of the two robots which are matched with each other to cut the uncut structural section according to the latest shape and pose of the uncut structural section; the two robots cooperate with each other to enable the laser cutting head 21 to cut the uncut structural section in the latest cutting path; until all cutting actions are completed. Based on the steps, if the metal special-shaped tube is deformed in the cutting process, the deformation can be corrected in time, and the cutting precision is ensured.
Preferably, in step S51, all the segments are ordered from front to back according to the cutting path, and the three-dimensional scanner 22 scans only the segment following the segment that has just completed the cut. In this way, it is not necessary to scan all subsequent segments after each segment has been cut, avoiding excessive time spent on scanning. It is further preferred that the cutting path is planned in such a way that the structural section close to the clamping jaw 11 is cut first and then the structural section far from the clamping jaw 11 is cut. Based on the arrangement, starting from the clamping jaw 11, since the position of the clamping jaw 11 is determined, the subsequent deformation of the metal profile tube only affects the structural section which is farther away from the clamping jaw 11, and does not affect the structural section which has already been cut.
The invention also provides a double-robot cooperative metal special-shaped tube laser cutting device, as shown in fig. 3 to 6, which is used for realizing the double-robot cooperative metal special-shaped tube laser cutting method, and comprises two robots, wherein the two robots are cooperatively controlled by a controller, a clamping jaw 11 for clamping a metal special-shaped tube is arranged at the movable end of a first robot 1, and a laser cutting head 21 and a three-dimensional scanner 22 are arranged at the movable end of a second robot 2. Preferably, the movable end of the second robot 2 is mounted with an anti-collision device 23, and the laser cutting head 21 and the three-dimensional scanner 22 are mounted on the anti-collision device 23.
In this embodiment, the metal forming machine further comprises a feeding and conveying device 3 and a discharging and conveying device 4, wherein the feeding and conveying device 3 and the discharging and conveying device 4 are respectively provided with a conveying belt and a plurality of material racks arranged on the conveying belts, the first robot 1 can grasp the metal forming tube from the material racks of the feeding and conveying device 3, and the first robot 1 can also put the metal forming tube on the material racks of the discharging and conveying device 4; both robots are five-axis or more robots.
Based on the above structure arrangement, the feeding conveyor 3 sends the metal special-shaped tubes to the grabbing station of the first robot 1 one by one, the first robot 1 clamps the metal special-shaped tubes, the two robots cooperate according to the above method to complete cutting of the metal special-shaped tubes, and then the first robot 1 puts the metal special-shaped tubes to the discharging conveyor 4; the above actions are continuously circulated to finish the mass production of the metal special-shaped tube.
In conclusion, the dual-robot cooperative metal special-shaped tube laser cutting method and equipment do not need to be provided with special clamps, are low in production cost and high in machining precision, and can greatly reduce the labor intensity of workers.
The above-described embodiments and features of the embodiments may be combined with each other without conflict.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. A dual-robot cooperative laser cutting method for metal special-shaped tubes, which is a continuous tube comprising a plurality of structural sections, wherein the structural sections comprise straight line sections and bending sections,
the method comprises the steps that two robots are adopted, the two robots are cooperatively controlled by a controller, a first robot is provided with a clamping jaw for clamping a metal special-shaped tube, and a second robot is provided with a laser cutting head and a three-dimensional scanner;
the method comprises the following steps:
s10, establishing a world coordinate system, calibrating the relation between the base coordinate systems of the two robots and the world coordinate system, determining the pose of the clamping jaw in the base coordinate system of the first robot and the pose of the laser cutting head and the three-dimensional scanner in the base coordinate system of the second robot through hand-eye calibration, and converting the pose of the clamping jaw, the laser cutting head and the three-dimensional scanner in the world coordinate system;
s20, controlling a clamping jaw to clamp a metal special-shaped tube by a first robot;
s30, the two robots cooperate with each other to enable the three-dimensional scanner to scan the metal special-shaped tube, so as to obtain an actual model and a pose of the metal special-shaped tube;
s40, planning a cutting path of the two robots matched with each other according to the actual model and the pose of the metal special-shaped tube;
s50, the two robots cooperate with each other to enable the laser cutting head to cut the metal special-shaped tube.
2. The dual robot-assisted laser cutting method of a metal profile tube according to claim 1, further comprising step S11, before performing step S20: inputting a metal special-shaped tube standard model into a controller, setting the position and angle of clamping the metal special-shaped tube by a clamping jaw, and planning a collision-free scanning path of the mutual cooperation action of two robots by the controller.
3. The dual robot-assisted laser cutting method of claim 2, wherein the second robot is provided with an anti-collision device, and when the step S30 is performed, if the three-dimensional scanner or the laser cutting head collides with the metal profile, the anti-collision device sends a signal to the controller, and the step S31 is performed: the controller controls the three-dimensional scanner to stop scanning, compares the scanned metal special-shaped tube actual model with the metal special-shaped tube standard model to obtain deviation values of the metal special-shaped tube actual model relative to the metal special-shaped tube standard model in pose and shape, reschedules collision-free scanning paths of the two robots in mutual cooperation according to the deviation values, and executes step S30 again until the scanning of the metal special-shaped tube is completed.
4. The dual robot-assisted laser cutting method of metal tubes according to claim 2, wherein in step S40, the method of planning the cutting path of two robots cooperating with each other is: dividing a standard model of the metal special-shaped tube into a plurality of standard structural sections, dividing boundaries among the standard structural sections into junctions of straight line sections and bending sections, and obtaining relative position information of each standard cutting structure in each standard structural section;
dividing the metal special-shaped tube actual model into a plurality of actual structural sections, dividing boundaries between the actual structural sections into junctions of straight line sections and bending sections, respectively obtaining the pose of each actual structural section, obtaining the pose of each actual cutting structure by means of conversion calculation of the relative position information, and planning a cutting path according to the pose of each actual cutting structure.
5. The dual-robot cooperative metal profile tube laser cutting method as claimed in claim 4, wherein in step S50, each time cutting of all cutting structures on one structural section is completed, it is determined whether the structural section is a bent section, if not, the subsequent cutting is continued;
if so, go to step S51: the two robots cooperate with each other to enable the three-dimensional scanner to scan the uncut structural section to obtain the latest shape and position of the uncut structural section, the latest shape and position of the uncut structural section are compared with the actual model and position of the metal special-shaped tube obtained in the step S30, whether the two are consistent or not is judged, if so, the cutting is continued according to the original cutting path;
if not, go to step S52: planning the latest cutting path of the two robots which are matched with each other to cut the uncut structural section according to the latest shape and pose of the uncut structural section; the two robots cooperate with each other to enable the laser cutting head to cut the uncut structural section in the latest cutting path;
until all cutting actions are completed.
6. A dual robot coordinated metal profile laser cutting method according to claim 5, wherein in step S51 all the structural sections are ordered from front to back according to the cutting path, the three-dimensional scanner scans only the structural section following the structural section just completed.
7. The dual-robot cooperative metal profile laser cutting method of claim 5, wherein the cutting path is planned in such a way that a structural section close to the clamping jaw is cut first and then a structural section far away from the clamping jaw is cut.
8. A metal mechanical tubes laser cutting equipment that two robots cooperate, its characterized in that: the laser cutting method for realizing the cooperative metal special-shaped tube of the double robots according to any one of claims 1 to 7 comprises two robots, wherein the two robots are cooperatively controlled by a controller, a clamping jaw for clamping the metal special-shaped tube is arranged at the movable end of a first robot, and a laser cutting head and a three-dimensional scanner are arranged at the movable end of a second robot.
9. The dual-robot cooperative metal profile laser cutting apparatus of claim 8, wherein: the anti-collision device is installed at the active end of second robot, and laser cutting head and three-dimensional scanner are all installed at anti-collision device.
10. The dual-robot cooperative metal profile laser cutting apparatus of claim 8, wherein: the feeding and discharging device is provided with a conveyor belt and a plurality of material racks arranged on the conveyor belt, the first robot can grasp the metal special-shaped tubes from the material racks of the feeding and conveying device, and the first robot can also put the metal special-shaped tubes on the material racks of the discharging and conveying device; both robots are five-axis or more robots.
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Denomination of invention: A dual robot collaborative laser cutting method and equipment for metal irregular tubes Granted publication date: 20230926 Pledgee: Bank of China Limited by Share Ltd. Foshan branch Pledgor: Hongsheng laser technology (Foshan) Co.,Ltd. Registration number: Y2024980003947 |
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