EP2821869B1 - Machine CNC de découpe par plasma, oxy-carburant et jet d'eau, permettant une découpe directe ou en biseau supplémentaire, utilisant l'auto-étalonnage pour un auto-réglage et son procédé de réglage par auto-étalonnage - Google Patents

Machine CNC de découpe par plasma, oxy-carburant et jet d'eau, permettant une découpe directe ou en biseau supplémentaire, utilisant l'auto-étalonnage pour un auto-réglage et son procédé de réglage par auto-étalonnage Download PDF

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Publication number
EP2821869B1
EP2821869B1 EP14475501.4A EP14475501A EP2821869B1 EP 2821869 B1 EP2821869 B1 EP 2821869B1 EP 14475501 A EP14475501 A EP 14475501A EP 2821869 B1 EP2821869 B1 EP 2821869B1
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EP
European Patent Office
Prior art keywords
cutting
cutting tool
motion
workpiece
machine
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EP14475501.4A
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German (de)
English (en)
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EP2821869A1 (fr
Inventor
Eva Stejskalová
Juraj Busa
Alexander Varga
Marian Flassik
Miroslav Ravas
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MicroStep spol s ro
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MicroStep spol s ro
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/007—Control means comprising cameras, vision or image processing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
    • B26F1/38—Cutting-out; Stamping-out
    • B26F1/3806—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface
    • B26F1/3813—Cutting-out; Stamping-out wherein relative movements of tool head and work during cutting have a component tangential to the work surface wherein the tool head is moved in a plane parallel to the work in a coordinate system fixed with respect to the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F3/00—Severing by means other than cutting; Apparatus therefor
    • B26F3/004—Severing by means other than cutting; Apparatus therefor by means of a fluid jet

Definitions

  • the present invention relates to CNC machines for cutting with plasma, oxy-fuel, and water jet designed for the bevel cutting of workpieces, necessary for the following welding processes as well as for other applications in machinery, metal industry and a wide range of manufacturing processes, where these cutting technologies can be applied.
  • the invention also relates to a method of adjustment of such machines by autocalibration.
  • the bevelled edges can be of V, Y, X, and K shapes.
  • Plasma, oxy-fuel, and water jet cutting technologies allow to cut workpieces only within limited thickness ranges that are determined by effective lengths of an energy beam produced by the corresponding technology of given power.
  • the maximum thickness is reduced even more depending on the bevel angle, i.e. the tilting angle of a cutting head with respect to a vertical to a surface of a material being cut.
  • Another problem is that the cutting tool cannot not perform multiple passes along the cut edge because it could damage the edge created by preceding cutting process. That refers particularly to the cutting of Y, X, and K shape bevels using oxy-fuel jet cutting.
  • CNC machine using plasma, oxy-fuel, and water jet cutting technologies, such as for example CNC machine disclosed in EP 2 584 419 A2 , which constitutes the closest prior art of present invention, does not solve the problem of additional beveling and consequently the precise alignment of the workpiece position measuring station with the machine coordinate system without the need for mechanical adjustment.
  • CNC machine according to EP 2 584 419 A2 is not provided with the workpiece position measuring station and because of that it does not enable to carry out additional beveling which without the need of precise mechanic adjustment of the machine significantly extends the machine functionality.
  • CNC machines of the prior art are therefore used for bevel cutting of only workpieces from the material having thickness smaller than allowed by the corresponding technology in straight cutting.
  • Invention which is subject of the mentioned invention does not solve the problem of automatic calibration of the workpiece position measuring station and precise automatic alignment of the workpiece position measuring station coordinate system and the machine tool coordinate system, neither the elimination of mechanical imprecisions of the kinematic chain carrying the machining tool without mechanical adjustment of individual segments of the kinematic chain or its parts.
  • the mentioned document does not apply to cutting with plasma, oxy-fuel, and water jet, but to machine tools and solves a different problem from the patent application being submitted.
  • the CNC machine provides also additional cutting of bevels of workpieces that have been straight cut in advance within the range between their given thickness and the maximum thickness that provided technology is capable to cut.
  • High accuracy of cut workpieces is achieved by the autocalibration system of the machine that eliminates a need of precise and time consuming mechanical adjustment of the machine by an operator.
  • the machine works in a standard way, i.e. workpieces are cut out from a full sheet of a material according to the cutting program, wherein the program controls the motion of the cutting tool along the edge being cut once, twice, or three times depending on the required shape of the bevelled edge.
  • One pass is required for straight cut and V shape cut; two passes are needed for Y and X shape cuts; and three passes are needed for K shape cuts.
  • In each respective cut it is necessary to change the angle of the cutting tool setting with respect to the surface of the material and offset the end point of the cutting tool relative to the contour being cut so that the final shape of the edge of the workpiece corresponds to the required shape.
  • the workpiece is first cut out using straight cutting and then an operator places the cut workpiece into a free area of the cutting machine and then navigates the support of the cutting tool with the workpiece position measuring station over such relocated workpiece. Then using the control system of the machine the operator starts the identification process of the workpiece position. Within this process the measuring station measures the precise position of the cut workpiece and the control system automatically calculates the rotation angle of the cutting program as well as a new position of starting point of the cutting program so that the cutting program is synchronized with the relocated workpiece. When this operation is completed, the operator resumes the cutting process, wherein in this phase only bevelled parts are cut on edges of the cut workpiece. When a Y shape is cut, after cutting the edge the process is completed.
  • the process is carried out by autocalibration function.
  • the autocalibration is performed so that the control system of the machine based on the instruction of the operator automatically checks actual position of the cutting tool position by means of the cutting tool position calibration station, and by means of the workpiece position measuring station it automatically checks the position of the cutting tool position calibration station. In the case that a deviation occurs, the system is switched to the autocalibration mode.
  • the autocalibration mode is carried out in two phases. In the first phase, the cutting tool end point position calibration station calibrates the end position of the cutting tool, and in the second phase the cutting tool end point position calibration station calibrates the workpiece position measuring station.
  • the first phase starts with identification of the actual position of the cutting tool end point at the calibration station sequentially in directions of x, y, z motion axes.
  • the identification results are used for synchronisation of the cutting tool coordinate system that is deviated from the required position with the calibration station coordinate system.
  • the control system launches the calibration process, in which the cutting head is gradually tilted within the whole range of permissible tilts defined by the working area of the machine.
  • the control system of the machine using the calibration station records data referring to the motion of the cutting tool end point of the cutting head in direction of x, y, z coordinate axes.
  • the control system After finishing the calibration the control system evaluates deviations of the cutting tool end point from the exact reference position and calculates the position errors by which the reference positions in respective coordinate axes of the machine should be corrected in order to achieve the exact position of the cutting tool in the whole range of its tilting positions.
  • the interpolator of the control system automatically applies the corrections in trajectory generation of the cutting tool end point, whereby the first phase of calibration is completed and the second phase starts.
  • the second phase of the calibration includes measurement of the positions of the cutting tool end point position calibration-station using the workpiece position measuring station equipped with a laser line scanner provided for different tilting angles within the whole range of rotation of the scanner rotating around its vertical axis (in the figures referred to as a motion direction along C motion axis).
  • the control system evaluates corrections defining the offsets of the coordination system of the workpiece position measuring station with respect to the coordination system of the cutting tool end point position, wherein the control system applies the corrections for identification of dimensions and position of the workpiece to be additionally bevelled in the coordinate system of the cutting tool end point.
  • the procedure is a self-learning process - autocalibration of the end point of the cutting tool and the workpiece position measuring station and their mutual positions.
  • the autocalibration eliminates the need of time consuming mechanical adjustment of the cutting tool end point in the cutting head, and the mutual position of the end point of the cutting tool and the laser line scanner of the workpiece position measuring station, thereby significantly speeding up the calibration process of the machine and providing high accuracy of cutting.
  • Fig. 11 As an example of an embodiment of this invention is the CNC machine illustrated in Fig. 11, provided with a cutting head 15 that enables tilting of the cutting tools 10 in the cutting process in order to cut workpieces with bevels necessary for following welding processes, wherein the alternative possibilities of implementation of the cutting machine 10 kinematical structure are shown in Fig. 2 .
  • Fig. 3 illustrates types of bevel cuts, wherein Fig. 3a illustrates a V shape cut, Fig. 3b shows an Y shape cut, Fig. 3c displays an X shape cut, and Fig. 3d shows a K shape cut.
  • the cutting machine consists of lateral sides 1 of the machine provided with longitudinal X motion axes along which a gantry 2 is moved by means of drives 5, wherein the gantry is provided with Y motion axes in the longitudinal direction, along which the support 3 is moved by the drive 6, wherein the support is provided with Z motion axes, along which a cutting head 15 is moved by the drive 7, wherein the cutting head provides tilting of a cutting tool 10, wherein the cutting head 15 is able to move rotary around the A, B motion axes depending on its actual implementation, i.e.
  • Fig. 2 shows the cutting head 15 kinematics alternatives that perform the tilting of the cutting tool 10 in the cutting process.
  • the cutting tool 10 position calibration station 11 that carries out measurement of the cutting tool 10 end point position in directions of each x, y, z coordinate axis of the cutting tool is located in the working area of the cutting head 15 and the workpiece position measuring station 4, wherein the output of the cutting tool 10 end point position calibration station 11 and the workpiece position measuring station 4 is connected to the control system with interpolator 16.
  • the cutting machine works in a standard way, i. e. the workpieces are cut from a full sheet of the material disposed on the working table 12 according to a cutting program, wherein the cutting program provides path control of the cutting tool 10 along the cut edge once, twice, or three times, depending on the required shape of a bevelled edge.
  • a straight cut or a V shape cut are made, Fig. 3a - single pass; in the case of a Y shape cut - Fig. 3b and an X shape cut - Fig. 3c , - two passes; and a K shape cut requires three passes, Fig. 3d .
  • both the orientation angle of the cutting tool with respect to the material surface and the offset of the end point of the cutting tool towards the contour being cut changes so that the final shape of the edge of the workpiece corresponds to the required shape.
  • the piece is first cut straight, then the operator places the cut workpiece onto the empty working table 12 of the cutting machine and navigates the support 3 with the workpiece position measuring station 4 over the workpiece relocated there. Then from the control system with interpolator 16 the operator launches identification of the workpiece position. In this process, the workpiece position measuring station 4 measures the precise position of the cut workpiece and the control system with interpolator 16 automatically calculates the rotation angle of the cutting program as well as the new position of the cutting program starting point so that the cutting program is synchronised with the relocated workpiece. After this operation is completed, the operator resumes cutting, while in this phase only bevelled parts are cut on the cut edges of the workpiece.
  • the control system with interpolator 16 by means of the cutting tool position calibration station 11 carries out the automatic checking of the actual position of the cutting tool. In the case that no deviation between the actual position and the reference position has been detected, the cutting process further continues. In the case that some deviation has been detected, the system enters the autocalibration mode.
  • the autocalibration mode starts with identification of the end point position of the cutting tool 10 at the cutting tool position calibration station 11 consecutively in directions of x, y, z coordinate axes.
  • This identification is used for synchronization of the coordinate system of the cutting head 15 with the end point of the cutting tool 10 deviated from the reference position, with the coordinate system of the cutting tool position calibration station 11.
  • the end point of the cutting tool 10 is inserted into the cutting tool position calibration station 11 and the control system with interpolator 16 launches the calibration process, wherein the cutting tool 10 is gradually tilted within the range of its possible tilts defined by the working area of the machine.
  • the control system with interpolator 16 records data from the cutting tool position calibration station 11 about the motion of the end point of the cutting tool 10 in directions of x, y, z coordinate axes.
  • the movements of the end point of the cutting tool 10 in directions of respective axes are zero.
  • the control system with interpolator 16 evaluates the deviations of the end point of the cutting tool 10 from the required precise position and calculates the positional offsets used for correction of reference values of the position in respective coordinate axes of the machine in order to achieve the required position of the end point of the cutting tool 10 within the whole tilting range of the cutting head 15.
  • the corrections are automatically applied in generating the cutting tool 10 end-point trajectory by the interpolator of the control system 16.
  • the process then continues by the calibration of the workpiece position measuring station 4.
  • the workpiece position measuring station 4 Upon instruction of the control system with interpolator 16, the workpiece position measuring station 4 is positioned over the cutting tool 10 position calibration station 11, while the control system with interpolator 16 provides its precise measurement of the cutting tool position calibration station 11 using the workpiece position measuring station 4 for all rotation angles of the laser line scanner 14.
  • the control system with interpolator 16 evaluates offsets of the coordinate system of the workpiece position measuring station 4 with respect to the coordinate system of the cutting tool 10 for all directions of rotation of the laser line scanner 14. Then the control system with interpolator 16 uses the data for precise identification of the position of the workpiece in the coordinate system of the cutting tool 10.
  • the autocalibration process is also completed.
  • the CNC machine according to the invention does not need any mechanical adjustment of the cutting tool 10 position in the cutting head 15 or mechanical adjustment of the workpiece position measuring station 4, wherein this is a self-learning process - adjustment of the machine by using the autocalibration.

Claims (2)

  1. Machine de découpe plasma CNC à oxygène et jet d'eau, avec possibilité de découpe directe en onglet ou de découpe en onglet à posteriori. La machine CNC effectue un calibrage automatique de la position de l'outil de découpe et détermine automatiquement la position de la pièce à usiner dans le système à coordonnées de la machine. Elle est composée :
    • Des parois latérales (1) de la machine qui sont dotées d'axes de guidage X pour les mouvements du portique (2) ;
    • Du portique (2), doté de moteurs (5), d'axes de guidage Y pour la mobilité du support (3). Celui-ci est doté de moteur (6), d'axes mobiles Z pour la mobilité de la tête découpeuse (15) qui est capable, avec l'aide de moteurs (8,9), de mouvement de rotation sur les axes A, B. Elle supporte également l'outil de découpe (10) ;
    • Du dispositif de mesure (11) de la position de l'outil de découpe ;
    • Du système de commande avec contrôleur d'axes (16) ;
    • De la table de travail (12) ;
    caractérisée en ce qu'un support (3) est muni d'un dispositif de mesure (4) de la position de la pièce à usiner, équipé d'un pointeur laser en ligne droite (14) muni d'un moteur (13) lui permettant d'effectuer des mouvements circulaires sur l'axe C et en ce qu l'outil découpeur qui est équipé de dispositif de mesure (11) de sa position, situé dans le point de rencontre entre l'espace de travail de la tête de découpe (15) avec le dispositif de mesure (4) de la position de la pièce à usiner, sachant que la sortie du dispositif de mesure (11) de la position de l'outil de découpe, ainsi que la sortie du dispositif de mesure (4) de la position de la pièce à usiner (4) sont connectés aux entrées du système de contrôleur d'axes (16), dont les sorties sont connectées, de façon individuelle, au moteur (5) sur les guides mobiles de l'axe X, au moteur (6) sur les moteurs des guides mobile de l'axe Z, au moteur (13) sur les guides de l'axe mobile C de la machine ;
    sachant que ledit système de commande avec contrôleur d'axes (16) est adapté à la réalisation du calibrage automatique de la position de l'outil de découpe. Il est également adapté à la détection automatique de la position exacte du dispositif de mesure de la position de la pièce à usiner dans le système de coordonnées de la machine selon la revendication 2.
  2. Le système de réglage automatique de la position exacte de de l'outil de découpe sur la tête découpeuse (15) de la machine CNC conformément à la revendication 1 et de la détection automatique de la position exacte du dispositif de mesure (4) de la position de la pièce à usiner dans le système de coordonnées de la machine, caractérisée en ce qu le système de commande par contrôleur d'axes (16) effectue, grâce au dispositif de mesure (11) de la position de l'outil de découpe (10), une mesure de la position réelle du point de fin de course de l'outil de découpe (10) dans l'étendue totale de ses possibles inclinaisons et déplacements circulaires, sachant que les valeurs obtenues de cette manière seront comparées aux valeurs désirées. Les valeurs de correction seront calculées afin de corriger la trajectoire souhaitée dans l'activité consécutive de la machine, dans le processus de découpe. La trajectoire souhaitée est générée par la sortie du contrôleur pour les moteurs (5), (6), (7) des axes mobiles respectives X, Y, Z. Par la suite, la position exacte du dispositif de mesure (11) de la position de l'outil de découpe (10) sera mesurée grâce au dispositif de mesure (4) de la position de la pièce à usiner et ce, dans l'étendue totale des mouvements circulaires du pointeur laser en ligne droite (14) sur l'axe mobile C avec l'aide du moteur (13), sachant que le système de contrôle d'axes (16) calculera, sur la base des valeurs prises, les valeurs du déplacement du système de coordonnées de la tête découpeuse (15) par rapport au système de coordonnées du dispositif de mesure (4) de la position de la pièce à usiner. A l'aide de ces valeurs, les données du dispositif de mesure (4) de la position de la pièce à usiner sont corrigées lors de la détection de la position actuelle de la pièce dans le système des coordonnées de la machine.
EP14475501.4A 2013-07-04 2014-06-04 Machine CNC de découpe par plasma, oxy-carburant et jet d'eau, permettant une découpe directe ou en biseau supplémentaire, utilisant l'auto-étalonnage pour un auto-réglage et son procédé de réglage par auto-étalonnage Active EP2821869B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SK50025-2013A SK500252013A3 (sk) 2013-07-04 2013-07-04 CNC stroj na rezanie plazmou, kyslíkom a vodným lúčom, s možnosťou priameho rezania s úkosmi alebo dodatočného úkosovania so samonastavovaním autokalibráciou a spôsob jeho nastavenia autokalibráciou

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EP2821869A1 EP2821869A1 (fr) 2015-01-07
EP2821869B1 true EP2821869B1 (fr) 2016-06-01

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EP14475501.4A Active EP2821869B1 (fr) 2013-07-04 2014-06-04 Machine CNC de découpe par plasma, oxy-carburant et jet d'eau, permettant une découpe directe ou en biseau supplémentaire, utilisant l'auto-étalonnage pour un auto-réglage et son procédé de réglage par auto-étalonnage

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CN104741807A (zh) * 2015-04-03 2015-07-01 江苏理工学院 三维薄板覆盖件等离子火焰切割机
US10850418B2 (en) 2015-12-21 2020-12-01 Hewlett-Packard Development Company, L.P. Cutter calibration
CN106003172B (zh) * 2016-05-20 2018-07-24 湖北三江航天江河化工科技有限公司 一种自动裁片机及其裁片方法
CN106217666B (zh) * 2016-08-30 2017-12-19 天通银厦新材料有限公司 切割蓝宝石的水刀装置及方法
CN106625824B (zh) * 2016-11-28 2018-07-10 嘉兴诺丁汉工业设计有限公司 一种照片自动裁切装置
CN108821534A (zh) * 2018-05-22 2018-11-16 徐州工程学院 一种地下工程施工中处理废水沉积物的旋转式切割装置
CN109277674A (zh) * 2018-09-22 2019-01-29 中船澄西船舶修造有限公司 一种便携式板材切割工装
CN108942408A (zh) * 2018-09-27 2018-12-07 上海气焊机厂有限公司 零件切割偏差分析装置
CN110295256A (zh) * 2019-06-02 2019-10-01 沈阳工业大学 一种小型开口输送式垫片数控切割机
CN110421264B (zh) * 2019-08-20 2021-04-13 南通大学 一种激光微织构加工方法
CN110744429B (zh) * 2019-11-08 2020-11-06 江苏卓燃工程咨询有限公司 一种用于珠宝的自动处理装置

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DE102009036013A1 (de) * 2009-08-04 2011-02-17 Weinmann Holzbausystemtechnik Gmbh Verfahren zur Bearbeitung von Werkstücken
SK288259B6 (sk) * 2011-10-21 2015-04-01 Microstep Spol. S R.O. CNC stroj na rezanie plazmou, kyslíkom a vodným lúčom ako rezacím nástrojom s automatickým nastavovaním presnej polohy rezacieho nástroja v rezacej hlave autokalibráciou a spôsob takéhoto nastavovania

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SK500252013A3 (sk) 2015-01-07

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