CN201519840U - A CNC laser processing device - Google Patents

Abstract

The utility model discloses a multi-shaft ganged numerical control laser processor. The structure of the numerical control processor is as follows: a beam of a portal frame is provided with a linear guide rail; a robot sliding table is arranged on the linear guide rail; a first servo motor is arranged on an upright of the portal frame; a motor controls the robot sliding table to move along the linear guide rail; a robot is fixedly connected on the robot sliding table and inversely hung on the beam of the upright of the portal frame through the sliding table; a laser processing head is arranged on the robot; the processing head is connected with a laser device by optical fiber; a cooler is respectively connected with the laser device and the laser processing head by cooling pipes; a work bench is positioned below the portal frame, a headstock is fixed at the end part of the work bench, and a tailstock is movably arranged on the work bench; a second servo motor controls workpieces to be processed on the work bench to move relative to the portal frame; and a controller is respectively connected with the robot and the sliding table by control lines. The multi-shaft ganged numerical control laser processor improves the flexiblized and automated control capability of laser processing, and can meet the requirement on numerical control laser processing of big-size and super-size parts.

Description

A CNC laser processing device

technical field

The utility model belongs to the field of laser processing, in particular to a numerically controlled laser processing device. The device can be used for laser processing of different types of workpieces, including welding, cutting and surface heat treatment, etc. It is especially suitable for laser processing of large workpieces.

Background technique

In recent years, high-power laser processing technology is being more and more widely used in the industrial field because of its advantages such as high processing efficiency, no mechanical contact, and easy automation. In particular, the "tool" of the laser processing device is a laser, and its processing characteristics are closely related to the output mode and energy of the laser beam, as well as the optical system and focusing mode used. When we change the laser output power, output pulse frequency or duty cycle and other parameters, or change the structure of the laser processing head (such as cutting head, welding head, etc.), the nature of the laser processing technology will change, such as from laser cutting to For laser welding or laser surface strengthening treatment, etc., and the corresponding mechanical structure, control system, etc. hardly need to be changed. In this way, we can use the method of changing laser processing parameters (including process parameters and processing heads) to turn a single-function laser processing equipment into a multi-functional laser processing device to achieve intelligent and flexible processing.

At present, there are two types of robot laser processing devices: one is laser processing equipment based on conventional CNC machine tools (hereinafter referred to as CNC laser processing machine tools), which has good versatility and can not only meet the requirements of laser processing of solid-state lasers transmitted by optical fibers , and meet the laser processing requirements of CO2 lasers that rely on the reflection and transmission of optical lenses; the other is a laser processing device based on a multi-axis robot, which has a high degree of flexibility and is compatible with the fiber output of solid-state lasers. Laser processing of complex three-dimensional shapes requires that CO2 lasers are difficult to transmit with optical fibers, so robots are rarely used as processing systems.

Existing CNC laser processing machine tools can have two to five degrees of freedom according to the performance requirements of the processed object. Generally, there are five degrees of freedom, called a five-axis linkage laser processing device, which includes three translational axes and two rotary axes, and can process complex parts with a large size range. However, in actual processing, it has its own technical difficulties:

1. Programming is complex and difficult. Because five-axis machining involves two rotational motions in addition to three linear translational motions, the resulting spatial trajectory of the motion is quite complex and abstract. In order to process the required free-form surface in space, multiple coordinate transformations and complex space set operations are often required. At the same time, the coordination of the movement of each axis must be considered to avoid interference and collision, and the programming is quite difficult.

2. High requirements for CNC and servo systems. Since the five-axis machining needs to coordinate and control the five axes, the CNC system must have the control function of five-axis linkage; in addition, the synthetic motion has the addition of rotary motion, which increases the workload of interpolation calculations; the small error of the rotary motion may be enlarged, In order to avoid affecting the machining accuracy, the CNC system is required to have extremely high computing speed.

Laser robot processing systems generally use articulated robots, which are suitable for work at almost any angle and trajectory, can be programmed freely, have controllable error rates, and have high production efficiency. However, at present, most robots are fixed at a fixed position during application. Due to the limitation of the working space of the robot itself, its working range is relatively narrow in actual processing. For large workpieces, such as large molds, locomotive bodies, ships and other large complex parts The processing is powerless.

Contents of the invention

In view of the above problems, the utility model proposes a numerical control laser processing device, which not only improves the flexibility and automatic control capability of the laser processing device, reduces the difficulty of numerical control programming, but also greatly improves the laser processing efficiency and the size of the processed parts range, especially to meet the requirements of CNC laser processing of large and super-sized parts.

The numerical control laser processing device provided by the utility model includes a laser, a cooling machine, a gantry frame, a robot slide table, a robot, a bedside box, a workbench, a column guide rail, a first and a second servo motor, a controller, a tailstock and a laser processing machine. head;

A linear guide rail is installed on the beam of the gantry frame, and the robot sliding table is installed on the linear guide rail on the beam of the gantry frame, and the first servo motor is installed on the column of the gantry frame, and the first servo motor controls the robot sliding table to move along the linear guide rail;

The robot is an industrial robot with more than three axes, which is fixedly installed on the robot slide table, hangs upside down on the beam of the gantry column through the robot slide table, and the laser processing head is installed on the end of the last joint of the robot; connected; the cooling machine is connected to the laser and the laser processing head respectively through the cooling pipe;

The workbench is located under the gantry frame, the headstock is fixed at the end of the workbench, and the tailstock is movably installed on the workbench; the second servo motor controls the relative movement of the workpiece to be processed on the workbench and the gantry frame;

The controller is respectively connected with the robot and the robot sliding table through control lines.

The above technical solution can be optimized by one or more of the following improvement methods: (1) The robot slide table includes a slide seat and a limit switch. Installed on both sides of the sliding seat, connected to the first servo motor through the signal line; a ball screw nut is installed in the middle of the sliding seat, the ball screw is located in the middle of the beam of the gantry frame, and the middle part is connected with the ball screw nut installed on the sliding seat Matched, the end is connected with the first servo motor. (2) The first and second column guide rails are symmetrically installed on both sides of the workbench. The two columns of the gantry frame are installed on the column guide rails to form a mechanical slide structure. The second servo motor drives the gantry frame to move along the column guide rails. (3) A slide saddle is installed on the chute of the workbench, and the second servo motor drives the slide saddle to move along the chute on the workbench.

The utility model device can realize a new numerical control laser processing method, which integrates the laser processing numerical control machine tool and joint robot, not only overcomes the defects of complicated programming, difficult control and high cost of the existing laser processing numerical control machine tool processing system, Moreover, the problem that the processing range of the joint robot laser processing device is small is solved. Specifically, the utility model has the following technical effects:

1. Adopting the moving gantry structure, the robot can move linearly along the direction of the beam of the gantry column, and at the same time the column can move longitudinally along the linear guide rail, adding two degrees of freedom, greatly improving the processing range of the robot, thereby improving the processing of the processing system scope;

2. Using a fixed gantry structure, the robot can also move linearly along the direction of the gantry column and beam, and at the same time the workbench saddle can move longitudinally along the workbench, which also increases the two degrees of freedom of the system and greatly improves the processing range of the processing system;

3. The advanced multi-axis joint robot is adopted to improve the flexibility and automatic control ability of the system. Generally speaking, modern commercial robots have developed a powerful software control system, which can be used for teaching or offline programming, which greatly reduces the programming difficulty of complex surface processing and improves production efficiency; in addition, the robot itself generally has its own development Control system, so that the control system design of the entire machining center is simplified; and with the gradual popularization of industrial robots in the fields of industry, logistics, etc., the price is getting lower and lower, so the cost of the entire system will also be reduced.

4. The "tool" of the processing system is laser, and the laser can use mature solid-state lasers (including lamp-pumped lasers, diode-pumped all-solid-state lasers, diode lasers or fiber lasers). The common feature is that the laser beam can pass through Optical fiber transmission, therefore, can be combined with the flexible movement process of the robot to improve the accuracy and efficiency of laser processing.

5. The worktables are all in the form of CNC machine tools, which is very convenient for clamping and processing of workpieces, so that the machining center has great versatility.

6. The laser processing head can be replaced according to the processing needs, which greatly improves the versatility and practicability of processing.

7. The movement of the six axes of the robot and other axes of the system is integrated into the controller for control, which can realize the multi-axis linkage control of the system.

Description of drawings

Fig. 1 is the structure front view of a kind of specific embodiment of device of the present invention;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the front view of robot slide table 4;

Fig. 4 is the structural front view of another embodiment of the device of the present invention;

Fig. 5 is the left view of Fig. 3;

FIG. 6 is a top view of FIG. 3 .

Detailed ways

The utility model can meet the requirements of laser processing of large workpieces, relatively simple control and low cost.

The utility model is described in more detail below by means of examples, but the following examples are only illustrative, and the protection scope of the utility model is not limited by these examples.

As shown in Figures 1 and 2, the multi-axis linkage CNC laser processing device provided by the utility model includes a laser device 1, a cooling machine 2, a gantry frame 3, a robot slide table 4, a robot 5, a ball screw 6, a bedside box 7, a working Table 8, column guide rails 9, 9', first servo motor 10, controller 11, gantry column drive system 12, tailstock 13, laser processing head 14.

The laser 1 can be a lamp-pumped laser, a diode-pumped all-solid-state laser, a fiber laser, or other lasers that can be easily transmitted through optical fibers. It is mainly used to generate the "tool" of the machining center—laser, and control the parameters of the laser. and optimization.

The cooling machine 2 is respectively connected with the laser 1 and the laser processing head 14 through the cooling pipe, and it presses the cooling medium (water or air) into the laser 1 and the laser processing head 14 through the cooling pipe, and the parts of the laser 1 and the laser processing The lenses in the head 14 are cooled and the media is then circulated to the cooler.

The gantry frame 3 is mainly used to support the multi-axis industrial robot and expand the processing range of the robot. A first linear guide rail 19 is installed on the beam of the gantry frame 3 .

The workbench 8 is fixed on the foundation and is located below the gantry frame 3 . There are equidistant T-slots distributed on the table surface, which can be installed with different sizes of fixtures, so as to achieve the purpose of processing workpieces of different sizes.

Column guide rail 9,9 ' is also linear guide rail, and is symmetrically installed on workbench 8 both sides. Two columns of the gantry frame 3 are installed on the column guide rails 9, 9 ', and form a mechanical slide structure with the column guide rails 9, 9 '. The second servo motor 12 is installed beside one of the column guide rails, and is connected with the feed part of the mechanical slide table, and drives the gantry frame 3 to move along the column guide rails 9, 9'.

The robot slide table 4 is installed on the linear guide rail 19 on the beam of the gantry frame 3 . The robot slide table 4 includes a slide seat 15 and a limit switch 16 . The bottom of the sliding seat 15 is provided with a boss 18 that cooperates with the linear guide rail 19 and can move along the linear guide rail 19 . The limit switch 16 is installed on both sides of the slide seat 15, and is connected to the first servo motor 10 by a signal line. The servo motor 10 is stopped in an emergency.

A ball screw nut 17 is installed in the middle of the sliding seat 15, the ball screw 6 is located in the middle of the beam of the gantry frame 3, the middle part is matched with the ball screw nut 17 installed on the sliding seat 15, and the end is connected with the first servo motor 10 . The ball screw 6 and the ball screw nut 17 form a pair of screw pairs, so as to achieve the function of supporting the lateral movement of the robot.

The first servo motor 10 is installed on the column of the gantry frame 3, the main shaft of the servo motor is connected with one end of the ball screw 6, and is mainly used to drive and control the movement of the screw.

The ball screw pair is driven by the servo motor 10 to move, and the latter drives the robot slide table 4 to move on the beam guide rail.

The robot 5 generally adopts a three-axis to six-axis industrial robot, which is fixed on the robot slide 4, hangs upside down on the beam of the gantry column 4 through the robot slide 4, and can move synchronously with the movement of the robot slide 4. Under the control of the controller 11, the multi-axis industrial robot sends the laser processing head 14 to a designated position, thereby completing three-dimensional processing of the workpiece.

The laser processing head 14 is fixed at the end of the last joint of the robot 1 through a flange, and connected to the laser 1 through an optical fiber. The laser processing head 14 corresponds to a tool in machining. The laser processing head 14 can be replaced according to different processing needs, such as a welding processing head used in laser welding, and a cutting processing head used in laser cutting.

The headstock 7 and the tailstock 13 are all installed on the workbench 8, and are used for tightening the workpiece and controlling the rotational speed of the workpiece. The headstock 7 is fixed on one end of the workbench, and the tailstock is installed on the groove above the workbench 8 and can move along the T-shaped groove. The tailstock can adopt a general structure, including the tailstock base and the top. The top is used to center and clamp the workpiece. The base can move in the T-slot of the workbench to adjust the top and the head of the bed. The distance between the box 7 enables the processing system to process workpieces of different size ranges.

The controller 11 is the core part of the entire processing system, and it has the following functions:

1. Control the motion of the multi-axis industrial robot 4 . We can manually control the movement of each axis of the robot through the operation panel, or control the robot to move according to our predetermined trajectory through teaching programming or offline programming.

2. Control the movement of the other three axes of the gantry processing machine tool. The servo motors, the first servo motor and the second servo motor of the workbench bedside box 7 are all connected to the controller of the robot through the I/O interface, so that we can set their motion parameters through the controller 11, including rotation The speed and the number of rotations are equivalent to expanding the 6-joint robot into a 6+2-axis or 6+3-axis robot structure.

3. Control the laser 1. The laser 1 is connected to the controller through the I/O interface, so that we can control the laser 1 on and off and the power setting of the laser through the controller.

work process:

1. Test whether each part of the machining center is operating normally, including laser 1, cooling machine 2, robot 5, workbench 8 and laser processing head 14, etc.

2. Adjust the distance between the headstock 7 and the tailstock 13 according to the length of the parts to be processed, and clamp the parts to be processed between the headstock 7 and the tailstock 13.

3. Adjust the robot 5 to the initial processing position, and establish the base coordinate system and the tool coordinate system.

4. According to the three-dimensional geometric dimensions of the workpiece to be processed, use robot language for offline programming.

5. Input the programming program into the controller 11, and teach and test.

6. After the test results are correct, formal processing will be carried out.

7. After processing, close all parts of the processing center.

The utility model device can also adopt the structure shown in Figure 4, which includes the following parts: laser 1, laser cooling machine 2, gantry frame 3, slide table 4, robot 5, ball screw 6, workbench 8, slide Saddle 20, first servo motor 10, controller 11, second servo motor 12, laser processing head 14. This structure differs from the structure shown in Figure 1 in the following ways:

(1) The gantry frame 3 is different from the gantry frame 3 in the previous scheme. The gantry frame 3 is fixed in the middle of the workbench and cannot be moved;

(2) The saddle 20 is installed on the chute of the workbench 8 and can move along the workbench under the action of the second servo motor 12

The difference in function is: the mobile gantry scheme relies on the movement of the gantry frame 3 to expand the processing range of the system; while the fixed gantry scheme relies on the sliding saddle 20 to expand the processing range of the system.

Other components are basically the same as the previous scheme in terms of function and structure.

The above description is only a preferred embodiment of the utility model, but the utility model should not be limited to the content disclosed in the embodiment and accompanying drawings. Therefore, all equivalents or modifications that do not deviate from the spirit disclosed by the utility model fall within the protection scope of the utility model.

Claims (4)

1. numerical control laser processing device is characterized in that:

This device comprises laser instrument (1), cooler (2), gantry frame, robot slide unit (4), robot (5), headstock (7), workbench (8), column guide rail, first, second servomotor (10,12), controller (11), tailstock (13) and laser Machining head (14);

On the crossbeam of gantry frame line slideway is installed, robot slide unit (4) is installed on the line slideway (19) on the crossbeam of gantry frame (3), first servomotor (10) is installed on the column of gantry frame (3), and first servomotor (10) control robot slide unit (4) moves along line slideway (19);

Robot (5) is the industrial robot more than three, be fixedly mounted on the robot slide unit (4), on the crossbeam of gantry upright post (4), laser Machining head (14) is installed on last joint end of robot (5) by robot slide unit (4) reversal of the natural order of things; Laser Machining head (14) links to each other with laser instrument (1) by optical fiber; Cooler (2) links to each other with laser instrument (1) and laser Machining head (14) respectively by cooling tube;

Workbench (8) is positioned at the below of gantry frame, and headstock (7) is fixed on the end of workbench (8), and tailstock (13) is movably arranged on the workbench (8); Workpiece to be processed and gantry frame (3) on second servomotor (12) the control workbench (8) relatively move;

Controller (11) is connected with robot (5) and robot slide unit (4) by control line respectively.

2. numerical control laser processing device according to claim 1, it is characterized in that: robot slide unit (4) comprises slide (15) and limit switch (16), the bottom of slide (15) is provided with the boss (18) that cooperates with line slideway (19), limit switch (16) is contained in slide (15) both sides, receives first servomotor (10) by holding wire; At slide (15) middle part a ball-screw nut (17) is installed, ball screw (6) is positioned in the middle of the crossbeam of gantry frame (3), the middle part be installed in slide (15) on ball-screw nut (17) match, the end link to each other with first servomotor (10).

3. numerical control laser processing device according to claim 1 and 2, it is characterized in that: workbench (8) bilateral symmetry is equipped with first, second column guide rail (9,9 '), two columns of gantry frame (3) are installed on the column guide rail (9,9 '), constitute the mechanical skid plateform structure, second servomotor (12) drives gantry frame (3) and moves along column guide rail (9,9 ').

4. numerical control laser processing device according to claim 1 and 2 is characterized in that: saddle (20) is installed on the chute of workbench (8), and second servomotor (12) drives saddle (20) and moves along the chute on the workbench.

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