WO2017036126A1 - 一种磁力皮带动态跟随激光切割的方法及其系统 - Google Patents

一种磁力皮带动态跟随激光切割的方法及其系统 Download PDF

Info

Publication number
WO2017036126A1
WO2017036126A1 PCT/CN2016/077622 CN2016077622W WO2017036126A1 WO 2017036126 A1 WO2017036126 A1 WO 2017036126A1 CN 2016077622 W CN2016077622 W CN 2016077622W WO 2017036126 A1 WO2017036126 A1 WO 2017036126A1
Authority
WO
WIPO (PCT)
Prior art keywords
cutting
magnetic belt
magnetic
laser cutting
component
Prior art date
Application number
PCT/CN2016/077622
Other languages
English (en)
French (fr)
Inventor
杨赛丹
吴瑞珉
乔俊良
丁烨
Original Assignee
宝山钢铁股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 宝山钢铁股份有限公司 filed Critical 宝山钢铁股份有限公司
Priority to US15/754,528 priority Critical patent/US10759003B2/en
Priority to EP16840555.3A priority patent/EP3345714B1/en
Priority to JP2018511030A priority patent/JP6741754B2/ja
Publication of WO2017036126A1 publication Critical patent/WO2017036126A1/zh

Links

Images

Classifications

    • 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
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • 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
    • B23K26/083—Devices involving movement of the workpiece in at least one axial direction
    • B23K26/0838—Devices involving movement of the workpiece in at least one axial direction by using an endless conveyor belt
    • 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
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • 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
    • B23K26/16—Removal of by-products, e.g. particles or vapours produced during treatment of a workpiece
    • 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
    • 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
    • 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
    • B23K37/0408—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work for planar work
    • 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
    • B23K2101/18—Sheet panels

Definitions

  • the invention relates to the field of metal processing, in particular to a magnetic belt dynamic follow-up laser cutting method and system thereof for use in the field of automobile manufacturing technology.
  • a plurality of parallel support conveyors support the strip profile while the laser head reciprocating along the longitudinal axis of the transverse axis member processes the web to obtain a web, and the support conveyor allows the cutting road to be used for cutting
  • the laser head cuts through the raw material to obtain a cutting profile.
  • the roll processing needs to have the unwinding straightening function in the front part of the process, mainly including the uncoiler, the feed pinch, the material head shear, the looper, the feeder and other equipment, which leads to a large production line and high investment. In addition, it needs to be processed. Increase the preparation time for unwinding, and the relative flexibility is worse. At the same time, the rhythm of laser cutting itself often cannot match the high-speed unwinding feed, which leads to longer waiting time on the production line.
  • the object of the present invention is to provide a magnetic belt dynamic follow-up laser cutting method and system thereof, which can realize the non-contact processing of the laser cutting path and the magnetic belt, and process the material into more than one piece of material and stack it, and realize at the same time The online automatic rejection function of waste.
  • a magnetic belt dynamic follow-up laser cutting system comprises: a processing position; two magnetic belt sets respectively arranged on the feeding side and the discharging side of the processing position, and each magnetic belt in the magnetic belt set can be elongated or contracted Back, and the gap between the magnetic belts is adjustable; the laser cutting unit is arranged at the processing position, at least one laser cutting machine and laser cutting head; the loading robot and its end picking device are arranged on the feeding side magnetic belt set of the processing position On the outer side, the opposite side is provided with a set of material magazines, and the side material measuring device is installed on the end picking device; the blanking robot and its end picking device are arranged on the outer side of the magnetic belt set on the discharge side, and the opposite side is arranged a piece of material; a waste conveyor device disposed on a side perpendicular to the feeding direction of the processing position; a real-time measuring device for cutting the soot processing device and the component material, disposed at the processing position; a position detecting device before stacking the sheet material, disposed at Cutting position
  • the two magnetic belt sets include: a magnetic belt conveying motor and a control module thereof for controlling the feeding side and the discharging side, respectively; a plurality of magnetic belts, each magnetic belt comprising at least one individually controllable electromagnetic module; A telescopic motor and a control module for controlling each magnetic belt telescopic; a width motor and a control module for controlling the gap adjustment of each magnetic belt.
  • the component edge measuring device includes a distance measuring sensor and two photoelectric switches for detecting the position of the component.
  • the real-time measuring device for cutting the component comprises two cameras for workpiece coordinate measurement; two cameras for separating visual inspection recognition after cutting, and visual detection of waste drop.
  • the sheet position detecting device before stacking of the sheet material includes a camera mounted above the carrying position for detecting the position of the sheet at the carrying position.
  • Each magnetic belt gap on the feeding side is pre-adjusted to a fixed gap and a fixed telescopic position according to the material width and the cutting contour to form an initial feeding position of the feeding side magnetic belt group, and at the same time, each magnetic belt according to the group
  • the material width and the cutting profile are pre-modulated to a fixed gap and a fixed telescopic position to form a discharge initial position of the discharge side group magnetic belt;
  • the stack After obtaining the length and width of the batch, the stack is placed on the stack, and the edge measuring device measures the position of the stack on the stack, and then the end of the loading robot
  • the picking device picks up one piece of material and puts it on the feeding side magnetic belt set, and the feeding side magnetic belt set sends the component to the laser cutting processing position;
  • the magnetic belts on the feeding side and the discharging side are dynamically adjusted according to the cutting path, and the telescopic adjustment amount is determined according to the cutting shape.
  • the synchronous dynamic adjustment is transmitted to the magnetic belt by the signal given in the cutting control system.
  • the control module realizes that the magnetic belt needs to give out the slit in the cutting process during the adjustment process, so as to prevent the laser from contacting the magnetic material through the group material; the finished cutting contour corresponds to the feeding side and the discharging side magnetic force of the corresponding position
  • the belt can be stretched or retracted to stabilize the supporting material and ensure the discharge of the material on the discharge side;
  • the signal is transmitted to the real-time measuring device in the cutting control system, and the waste drop situation is detected and recognized in real time; after the cutting is completed, the cutting control system gives a signal, and the cutting of the material is cut in real time.
  • the measuring device detects all the completed cutting profiles and determines the separation of the processed sheet material and the component material;
  • the feed side magnetic belt set is located at the feed end position, and the discharge side magnetic belt set is located at the discharge end position; the processed sheet material enters the discharge end position on the discharge side magnetic belt set The output state of the material is output to the transfer position.
  • the magnetic belt set on the feed and discharge sides is extended again or so-called to the initial position, and the feed side magnetic belt set sends the second piece of material again to the laser cutting process. Position, in order to carry out the processing of feeding, cutting and cutting;
  • the camera of the sheet position detecting device detects the position of the sheet, feeds the sheet position back to the blanking robot to correct its posture, and then unloads the end picker pair at the end of the robot.
  • the processed flakes are picked up and stacked and stacked to the level.
  • the magnetic belts on the feeding side and the discharging side can be dynamically adjusted according to the cutting path: for the cutting path formed by cutting the contour shape, the cutting characteristic information is prepared corresponding to the corresponding signal of the magnetic belt stretching operation to be adjusted.
  • the telescopic adjustment of the magnetic belt is realized under the control of the cutting system; each magnetic belt in the magnetic belt set can realize the dynamic adjustment of the elongation and retraction, and the cutting head synchronously performs the cutting of the cutting path during the adjustment of the magnetic belt.
  • step d) the position and angle of the component are measured before the end picker feeds the component, and the distance between the end picker and the component is determined by the distance measuring sensor in the component edge measuring device.
  • the photoelectric switch performs the edge position detection of the X and Y directions of the component and generates an output signal for measuring the position and angle of the component.
  • the magnetic side belt group on the feeding side and the discharging side realizes magnetic opening and closing by controlling the electromagnetic module, and the electromagnetic module in the laser cutting area is fully or partially magnetized when the magnetic belt set is stationary, and is extended or retracted.
  • the electromagnetic module completely releases the magnetic force; for the cutting path formed by cutting the contour shape, the magnetic signal of the magnetic belt electromagnetic module corresponding to the magnetic characteristic information is compiled, and the magnetic control of the electromagnetic module is realized under the control of the cutting control system.
  • the length and width of the assembly are placed on the stack, and the component edge measuring device on the pick-up on the loading robot measures the position of the stack on the stack.
  • the pick-up device on the loading robot sucks a piece of the material on the feeding side magnetic belt set, and the feeding side magnetic belt set sends the material to the laser cutting processing position.
  • the magnetic belt gap on the feeding side is pre-adjusted to the fixed gap and the fixed telescopic position according to the material width and the cutting contour to form the feeding initial position of the feeding side group magnetic belt, and the magnetic belts on the discharging side are according to the material width.
  • the discharge initial position is formed by pre-modulating the cutting profile to the fixed gap and the fixed telescopic position to form a discharge side group magnetic belt.
  • the component entering the laser cutting area of the machining position is quickly measured by the workpiece coordinate measuring system to correct the position and coordinates of the origin position of the workpiece coordinate system of the control system before the cutting operation.
  • the laser cutting unit presses the component.
  • the contour shapes that need to be machined are cut in the planned path order.
  • the magnetic belts on the feeding side and the discharging side can be dynamically adjusted according to the cutting path. The adjustment is determined according to the cutting shape.
  • the slits in the cutting process need to be given out to avoid the laser passing through the material contact.
  • the magnetic belt on the feeding side and the discharging side of the finished cutting contour can be extended or retracted to stabilize the supporting material and ensure the discharge of the discharging side. Need.
  • a corresponding signal is sent to the waste drop visual inspection system in the cutting control system to detect the waste drop in real time.
  • the cutting control system gives the corresponding letter No.
  • the cutting and separating vision system detects all the completed cutting profiles and determines the separation of the processed sheets and the components.
  • the feed side magnetic belt set is at the feed end position
  • the discharge side magnetic belt set is at the discharge end position.
  • the processing sheet feeds the discharge end position on the magnetic belt on the discharge side group into the discharge output state and outputs to the transfer position.
  • the sheet position detecting device detects the position of the sheet material, and feeds the sheet material position to the conveyance position.
  • the robot is used to correct its posture, and then the end picker at the end of the unloading robot is used to pick up the processed sheets and stack them into the picking position.
  • the magnetic belts on the feeding side and the discharging side can be dynamically adjusted according to the cutting path.
  • the specific method for cutting the cutting path formed by cutting the contour shape is to extract the cutting characteristic information in the cutting control system.
  • the corresponding signal is generated, that is, the cutting characteristic information is corresponding to the magnetic belt telescopic movement to be adjusted, and the numerical control control and the magnetic belt shaft control realize the adjustment of the magnetic belt through communication; each magnetic belt in the magnetic belt group can realize the elongation and contraction
  • the dynamic adjustment of the back, and the numerical control controller in the magnetic belt adjustment process synchronizes the cutting of the cutting path.
  • the specific process of synchronous dynamic adjustment is: the component material is kept stationary after moving to the cutting area, at this time, the magnetic belt of the feeding side group is at the initial position of the feeding, and the magnetic belt of the discharging side group is at the initial position of discharging.
  • the corresponding magnetic belt begins to expand or retract until the design position, at this time for feeding and discharging Side group magnetic belt dynamic adjustment phase.
  • Each magnetic belt is dynamically adjusted to a position that does not interfere with the beam according to the laser cutting profile, and the cutting action is maintained in a normal cutting state until the cutting is completed, and the group magnetic belts on the feeding and discharging sides have been adjusted to the termination position.
  • the processed sheet material is output through the magnetic belt of the discharging group, and at the same time, the group magnetic belt on the feeding and discharging side is extended or retracted to the initial position, and the next group material enters the laser processing area, thereby feeding and cutting. , the recycling of the material.
  • the magnetic belt dynamic follow-up laser cutting method and system thereof adopts a flexible material feeding mode, and the production line is greatly optimized, and the material utilization rate is further improved by the laser cutting method and the material discharging optimization. . another
  • the invention adopts the magnetic belt dynamic following laser cutting method to realize the functions of sheet support, material receiving, automatic scraping of waste, laser passing and the like, and combines the loading and unloading operations of the robot to achieve the purpose of automatic processing.
  • Figure 1 is a layout view of an embodiment of the present invention
  • FIG. 2 is a schematic view showing a camera assembly position according to an embodiment of the present invention.
  • FIG. 6 are diagrams showing the process of adjusting the magnetic belt of the magnetic belt dynamic follow laser cutting according to the present invention.
  • Figure 7 is a schematic view showing the synchronization method of the numerical control control system and the magnetic belt shaft control system of the present invention.
  • a magnetic belt dynamic follow-up laser cutting system of the present invention includes:
  • Two magnetic belt sets 2, 2' are respectively disposed on the feeding side and the discharging side of the processing position 1, and each magnetic belt in the magnetic belt sets 2, 2' can be extended or retracted, and each magnetic belt is arranged Adjustable gap;
  • the loading robot 4 and its end picker 41 are disposed outside the feeding side magnetic belt set 2 of the processing position 1, and a pair of magazines 5 are disposed on the opposite side, and the side of the assembly is mounted on the end picker 41.
  • the blanking robot 7 and its end picker 71 are disposed outside the discharge side magnetic belt set 2' of the processing position 1, and the other side is provided with a piece of material 8;
  • a waste conveyor device 9 disposed on a side of the processing position 1 perpendicular to the feeding direction;
  • the real-time measuring device 11 for component cutting including two cameras 111 for workpiece coordinate measurement, is mounted on the laser cutting machine 3, one on the XY stage of the mounting cutter, and one mounted on the Z-axis of the cutting machine to enhance the detection accuracy.
  • Two cameras 112 for post-cut separation visual inspection recognition, waste drop visual inspection recognition are mounted on the sealed chamber 12 of the isolated processing station 1.
  • the position detecting device 13 before the sheet conveyance is disposed at the position of the discharge side magnetic belt set outside the processing position, and is mounted outside the sealed room 12 outside the processing position 1 in the present embodiment, and the position detecting device 13--the camera
  • the visual range covers the sheet output area by an angularly tilted mounting.
  • the laser cutting machine 3 is in the form of a rectangular coordinate robot, which can move in three directions of XYZ, and the working stroke length is 4000 mm (X axis) ⁇ width 2000 mm (Y axis) ⁇ thickness 200 mm (Z axis).
  • the set length and width of the set material after the nesting is placed on the stack 1 , and the stack side measuring device 6 on the loading end picker 41 performs the stack position on the stack 1
  • the one-time measurement corrects the posture of the loading robot 4, and then the end picker 41 on the loading robot 4 sucks a piece of the material onto the feed side magnetic belt set 2.
  • Each magnetic belt gap on the feeding side can be pre-adjusted to a fixed gap and a fixed telescopic position according to the material width and the cutting contour to form an initial feeding position of the feeding side group magnetic belt.
  • the discharge side magnetic belt is pre-modulated to the fixed gap and the fixed telescopic position according to the component width and the cutting profile to form the discharge initial position of the discharge side group magnetic belt.
  • the number of the feed side magnetic belt sets 2 is four, and the discharge side magnetic belt sets 2' are five.
  • the feed side magnetic belt set 2 sends the assembly to the laser cutting area, and the two cameras 111, which are measured by the workpiece coordinate, are quickly measured by the workpiece coordinate measurement, and the precision is within 1 mm.
  • the position and angle of the component are measured to correct the coordinates and angle of the origin position of the workpiece coordinate system of the CNC system before the cutting operation.
  • the laser cutting head 31 performs the cutting operation by moving the laser cutting head 31 in three directions of XYZ by the laser cutting machine 3 in the planned path order of the corrected coordinate and angle pair components according to the contour shape to be processed.
  • the magnetic belts on the feeding side and the discharging side can be dynamically adjusted according to the cutting path, and the telescopic adjustment amount is determined according to the cutting shape.
  • the synchronous dynamic adjustment is transmitted to the magnetic belt telescopic control by means of a signal given in the cutting control system.
  • the module realizes that the magnetic belt needs to give out the slit in the cutting process during the adjustment process, so as to avoid the laser beam from contacting any one of the magnetic belts through the group material; the feeding side and the discharge side magnetic belt of the corresponding cutting contour corresponding position It can be stretched or retracted to provide stable support for the processed sheet, and at the same time ensure the discharge of the discharge side.
  • the magnetic side belt of the feeding side group is located at the feeding end position
  • the magnetic belt of the discharging side group is located at the discharge end position
  • the two cameras 112 which are visually detected and identified by the separation detection after the cutting and the visual inspection of the waste drop detection waste are detected. Automatic rejection and material breakage.
  • the discharge end of the sheet material on the magnetic belt of the discharge side group enters the discharge output state and is output to the transfer position.
  • the precise position of the picked-up sheet can be further ensured by the position detecting means 13 before the conveyance and feedback so that the blanking robot 7 corrects the handling posture to further ensure that the stacking defect of the stacked sheets is within the accuracy requirement.
  • the blanking end picker 71 at the end of the blanking robot performs the posture adjustment and picks up the obtained sheet material and stacks it onto the sheet bundle 8.
  • the specific method for the dynamic adjustment of the magnetic belt on the feeding side and the discharging side during the cutting process according to the cutting path is: for the cutting path formed by cutting the contour shape, the cutting characteristic information extracted therein is given in the cutting control system.
  • the signal that is, the cutting characteristic information corresponding to the magnetic belt telescopic movement to be adjusted, the numerical control and the magnetic belt shaft control realize the adjustment of the magnetic belt through communication; each magnetic belt in the magnetic belt group can realize the elongation and retraction Dynamic adjustment, and the CNC controller synchronizes the cutting of the cutting path during the magnetic belt adjustment process.
  • the specific process of synchronous dynamic adjustment is: the component material is kept stationary after moving to the cutting area, at this time, the magnetic belt of the feeding side group is at the initial position of the feeding, and the magnetic belt of the discharging side group is at the initial position of discharging.
  • Corresponding magnetic force when the cutting process moves to the characteristic information in the cutting control system according to the magnetic belt movement of the adjusted characteristic information of the operation The belt begins to stretch or retract until it reaches the design position, which is the dynamic adjustment phase of the group magnetic belt on the feed and discharge sides.
  • Each magnetic belt is dynamically adjusted to a position that does not interfere with the beam according to the laser cutting profile, and the cutting action is maintained in a normal cutting state until the cutting is completed, and the group magnetic belts on the feeding and discharging sides have been adjusted to the termination position.
  • the processed sheet material is output through the magnetic belt of the discharging group, and at the same time, the group magnetic belt on the feeding and discharging side is extended or retracted to the initial position, and the next group material enters the laser processing area, thereby feeding and cutting. , the recycling of the material.
  • the four magnetic belts C11, C12, C13, C14 of the feed side magnetic belt set 2 and the five magnetic belts C21, C22, C23, C24 of the discharge side magnetic belt set 2' C25 is in the initial position of the feed and the initial position of the discharge, as shown in Figure 3.
  • the cutting path in the figure has L1, L2, L3, L4, wherein the cutting path L1 is divided into two parts P1 and P2 and respectively contains N1 and N2 of the cutting characteristic signal, such as P1, P2, etc., for explaining the magnetic force.
  • a cutting line can consist of several paths.
  • the discharge magnetic belt C24 has been retracted according to the characteristic signal N1 to avoid the cutting path P1, as shown in FIG.
  • the feed magnetic belt C14 has been retracted according to the characteristic signal N2 to avoid the cutting path P2, and at the same time, the discharge magnetic belt C24 has been extended according to the characteristic signal N2 to catch the portion of the sheet.
  • the laser head cuts the path L2, at which time the feed magnetic belt C14 is again retracted according to a certain characteristic signal N3 to avoid the cutting path L2, and the feed magnetic belt C14 has been adjusted to the feed end position, one of FIG. It also indicates the final stop position of the feed magnetic belt and the discharge magnetic belt.
  • the next set of materials enters the set cutting area again and enters the cycle of the next batch processing.
  • the magnetic belt in motion is magnetically released, and the magnetic belt in the stationary state needs to be fully or partially magnetized according to the workpiece.
  • Each magnetic belt is distributed with an electromagnet module and can be separately controlled.
  • the formed cutting path compiles the magnetic signal of the magnetic belt electromagnetic module corresponding to the magnetic characteristic information, and realizes the magnetic control under the control of the cutting system.
  • the realization method of the cutting control system is the profibus between the laser cutting machine and the feeding and discharging group magnetic belt through the numerical control control system and the magnetic belt control system and the magnetic belt electromagnetic control system. Communication realizes coordinated control. This method effectively ensures that the magnetic belt set dynamically follows the laser cutting process, and at the same time effectively controls the magnetic addition and release.
  • the numerical control system pre-determines the cutting path, the cutting characteristic signal and the magnetic characteristic signal rule, as shown in Fig. 7. Synchronous method of numerical control control system and magnetic belt control system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Laser Beam Processing (AREA)

Abstract

一种磁力皮带动态跟随激光切割的方法及其系统，所述系统包括：加工位（1）；两磁力皮带组（2、2'），分别设于加工位（1）的进料侧和出料侧，各磁力皮带可伸长或缩回，且磁力皮带间间隙可调；激光切割单元，设于加工位（1）；上料机器人（4）及端拾器（41），设于进料侧的磁力皮带组（2）外侧，端拾器（41）的后侧设组料垛（5），端拾器（41）上安装组料边部测量装置（6）；下料机器人（7）及端拾器（71），设于出料侧磁力皮带组（2'）外侧，端拾器（71）的后侧设片料垛（8）；废料传送带装置（9），设于与进料方向垂直的加工位（1）后侧；烟尘处理装置（10）与组料切割的实时测量装置（11），设于加工位（1）；片料堆垛前的位置检测装置（13），设于出料侧磁力皮带组位置的搬运位；切割控制系统。在切割过程中磁力皮带组动态跟随，产线设计灵活，加工便捷。

Description

一种磁力皮带动态跟随激光切割的方法及其系统 技术领域
本发明涉及金属加工领域，特别涉及用于汽车制造技术领域的一种磁力皮带动态跟随激光切割的方法及其系统。
背景技术
基于激光技术用于材料切割加工领域已经是一种成熟的商用技术，对于金属矩形板材来料的激光数控加工系统已被广泛应用，随着激光技术的蓬勃发展，也为板材加工带来了更快的速度、更灵活的应用方式，同时也产生了对自动化的上下料，高节奏连续生产的需求。成卷卷料的开卷激光切割加工也已在研究与逐步应用中，例如中国专利CN102281986A中公开了一种成卷卷材进行激光切割加工的输送器系统，通过两个系列的输送器以及包含的平行的多个支撑输送器对带状型材起到支撑作用，同时随着沿横轴构件的纵向轴往复运动的激光头对卷材进行加工获得料片，支撑输送器可以让出切割道路用于激光头切割穿过原材料而获得切割轮廓。这种方式极大弥补并解决了以往数控离线加工中无法成卷供料切割以及针状切割台面对切割路径的避让与带来的废料落料问题，成为一种对替代成卷卷材模具落料方式加工料片的革新方式，避免了对高强度材料冲压吨位的要求以及高额的模具设计费用与维护保有成本，另外基于卷材激光切割的方法也对材料利用率的提高有非常大贡献。
成卷加工需要在工序前段具有开卷矫直功能，主要包括开卷机、入料夹送，料头剪，活套，送料机等设备而导致产线庞大，投资高，另外，在加工中还需要增加开卷的准备时间，相对灵活性变差。同时，激光切割自身的节奏往往不能匹配高速的开卷送料而导致产线等待时间较长。
通过组料的供料方式再进行激光落料加工，是一种便捷以及成本低廉的方法。然而，常用的数控激光切割机采用针状的台面，从而使激光切割路径与针状台面有干涉带来切割质量与各种异形废料无法自动剔除的问题，因此，该加工方法面临着自动化效率较低的问题，以人工与半自动为主的加工方式不适合上百万片的大批量加工要求。为了解决以上问题，在中国专利申请号201310157659.3公开了一种横杆上设置模块方式的衬板模等专利中对支撑接料方式都有各种新型的方法公开，但 是在线动态调整的灵活性较低。
发明内容
本发明的目的在于提供一种磁力皮带动态跟随激光切割的方法及其系统，可以实现激光切割路径与磁力皮带无接触的加工，并将组料加工成一片以上片料并进行堆垛，同时实现了废料在线自动剔除功能。
为达到上述目的，本发明的技术方案是：
一种磁力皮带动态跟随激光切割的系统，其包括：一加工位；两磁力皮带组，分别设于加工位的进料侧和出料侧，磁力皮带组中各根磁力皮带可伸长或缩回，且各磁力皮带间间隙可调；激光切割单元，设于加工位，至少一激光切割机及激光切割头；上料机器人及其端拾器，设于加工位的进料侧磁力皮带组外侧，相对的另外一侧设一组料垛，端拾器上安装组料边部测量装置；下料机器人及其端拾器，设于出料侧磁力皮带组外侧，相对的另外一侧设置一片料垛；废料传送带装置，设于加工位与进料方向垂直的一侧；烟尘处理装置与组料切割的实时测量装置，设于加工位；片料堆垛前的位置检测装置，设于加工位外侧的出料侧磁力皮带组位置的搬运位；切割控制系统，磁力皮带组、激光切割单元、上料机器人、下料机器人、废料传送带装置、烟尘处理装置、实时测量装置和片料位置检测装置分别连接切割控制系统，使以上各单元与装置之间互相通信形成关联的作业控制，且磁力皮带伸长或缩回与激光切割头随动。
进一步，所述两磁力皮带组，其包括，分别控制进料侧与出料侧磁力皮带组传送电机及其控制模块；若干磁力皮带，每个磁力皮带包括，至少一个可单独控制的电磁模块；控制各磁力皮带伸缩的伸缩电机及其控制模块；控制各磁力皮带间隙调节的宽度电机及其控制模块。
进一步，所述的组料边部测量装置包括用于组料垛位位置检测的一个测距传感器和两个光电开关。
又，所述组料切割的实时测量装置，包括，用于工件坐标测量的两个相机；用于切割后分离视觉检测识别、废料掉落视觉检测识别的两个相机。
另外，所述的片料堆垛前的片料位置检测装置包括一个相机，安装于搬运位上方，用于检测片料在搬运位的位置。
本发明的磁力皮带动态跟随激光切割的系统的激光切割方法，其特征是，
a)首先，根据片料图形设计获得定尺长宽的组料；
b)进料侧各根磁力皮带间隙根据组料宽度与切割轮廓预先调整至固定间隙与固定的伸缩位置形成进料侧磁力皮带组的进料初始位，同时出料侧各根磁力皮带根据组料宽度与切割轮廓预先调制至固定间隙与固定的伸缩位置形成出料侧组磁力皮带的出料初始位；
c)在获得定尺长宽的组料后，组料成垛置于组料垛上，组料边部测量装置对组料垛上的组料位置进行测量，随后，上料机器人上的端拾器吸取一件组料置于进料侧磁力皮带组上，进料侧磁力皮带组将组料送至激光切割加工位；
d)进入加工位激光切割区域的组料由实时测量装置对组料位置进行快速定位测量，以在切割作业前修正控制系统工件坐标系的原点位置坐标以及角度，完成测量后，激光切割头对组料按需要加工的轮廓形状以规划的路径顺序进行切割：
切割过程中，进料侧与出料侧的各根磁力皮带根据切割路径同步动态调节，根据切割形状决定伸缩调节量，同步动态的调节采用切割控制系统中给出信号的方式传送给磁力皮带伸缩控制模块实现，调节过程中磁力皮带需要让出在切割过程中的割缝，避免激光透过组料接触到任意一根磁力皮带；已完成的切割轮廓对应位置的进料侧与出料侧磁力皮带可以伸长或缩回，对加工片料起到稳定支撑作用，同时保证出料侧接料出料的需要；
切割过程中，对于已形成的废料，在切割控制系统中给出信号传送给实时测量装置，实时对废料掉落情况进行检测识别；切割完成后，切割控制系统给出信号，组料切割的实时测量装置对已完成的全部切割轮廓进行检测，判定加工片料与组料的分离情况；
e)片料加工完成后，进料侧磁力皮带组位于进料终止位，出料侧磁力皮带组位于出料终止位；加工片料在出料侧磁力皮带组上的出料终止位进入出料输出状态并输出至搬运位，与此同时，进料与出料侧的磁力皮带组再次伸长或所谓至初始位置，进料侧磁力皮带组将第二片组料再次送至激光切割加工位，以此进行上料、切割、下料的循环加工；
f)在片料搬运前，片料位置检测装置的相机对片料位置进行检测，将片料位置反馈给下料机器人以纠正其位姿，随后下料机器人末端的端拾器对 加工片料吸附拾取并堆垛至垛料位。
进一步，在切割过程中进料侧与出料侧各根磁力皮带可根据切割路径同步动态调节：对于切割轮廓形状所形成的切割路径，编制切割特征信息对应所要调节的磁力皮带伸缩作业的相应信号，在切割系统控制下实现磁力皮带的伸缩调节；磁力皮带组中的每根磁力皮带都可实现伸长与缩回的动态调整，且磁力皮带调节过程中切割头同步在执行切割路径的切割。
优选的，步骤d)在端拾器对组料上料前进行组料的位置和角度的测量，通过组料边部测量装置中的测距传感器进行端拾器与组料之间限定高度距离测量，光电开关进行组料的X、Y方向的边部位置检测并产生输出信号，用于测定组料位置和角度。
优选的，进料侧与出料侧磁力皮带组通过控制电磁模块实现磁性的开与关，在激光切割区域的电磁模块在磁力皮带组静止时全部或部分上磁，在伸长或缩回的动态过程中电磁模块全部释放磁力；对于切割轮廓形状所形成的切割路径，编制磁性特征信息对应的磁力皮带电磁模块的磁性信号，在切割控制系统控制下实现电磁模块磁性的控制。
根据片料图形设计获得定尺长宽的组料成垛置于组料垛上，上料机器人上的端拾器上的组料边部测量装置对组料垛上的组料位置进行测量后，上料机器人上的端拾器吸取一件组料置于进料侧磁力皮带组上，进料侧磁力皮带组将组料送至激光切割加工位。进料侧各根磁力皮带间隙根据组料宽度与切割轮廓预先调整至固定间隙与固定的伸缩位置形成进料侧组磁力皮带的进料初始位，同时出料侧各根磁力皮带根据组料宽度与切割轮廓预先调制至固定间隙与固定的伸缩位置形成出料侧组磁力皮带的出料初始位。进入加工位激光切割区域的组料由工件坐标测量系统对组料位置进行快速测量，以在切割作业前修正控制系统工件坐标系的原点位置坐标及角度，完成测量后激光切割单元对组料按需要加工的轮廓形状以规划的路径顺序进行切割。在切割过程中进料侧与出料侧各根磁力皮带可根据切割路径同步动态调节，调节根据切割形状决定，调节过程中需要让出在切割过程中的割缝，避免激光透过组料接触到任意一根磁力皮带，已完成的切割轮廓对应位置的进料侧与出料侧磁力皮带可以伸长或缩回，对加工片料起到稳定支撑作用，同时保证出料侧接料出料的需要。切割过程中，对于已形成的废料，在切割控制系统中给出相应信号传送给废料掉落视觉检测系统，实时对废料掉落情况进行检测。切割完成后，切割控制系统给出相应信 号，切割分离视觉系统对已完成的全部切割轮廓进行检测，判定加工片料与组料的分离情况。完成加工后，进料侧磁力皮带组位于进料终止位，出料侧磁力皮带组位于出料终止位。加工片料在出料侧组磁力皮带上的出料终止位进入出料输出状态并输出至搬运位，搬运前，片料位置检测装置对片料位置进行检测，将片料位置反馈给搬运下料机器人以纠正其位姿，随后搬运下料机器人末端的端拾器对加工片料吸附拾取并堆垛至垛料位。
在切割过程中进料侧与出料侧各根磁力皮带可根据切割路径同步动态调节的具体的方法是：对于切割轮廓形状所形成的切割路径，提取其中的切割特征信息在切割控制系统中给出相应信号，即编制切割特征信息对应所要调节的磁力皮带伸缩动作，由数控控制与磁力皮带轴控制通过通信实现磁力皮带的调节；磁力皮带组中的每根磁力皮带都可实现伸长与缩回的动态调整，且磁力皮带调节过程中数控控制器同步在执行切割路径的切割。
进一步，同步动态调节的具体过程是：组料运动到切割区域后保持静止，此时进料侧组磁力皮带在进料初始位，出料侧组磁力皮带在出料初始位。根据运行的已编制特征信息对应调节的磁力皮带动作，当切割过程运动到切割控制系统中特征信息时，对应的磁力皮带开始伸长或缩回直至到设计位置，此时为进料与出料侧的组磁力皮带动态调整阶段。各磁力皮带都根据激光切割轮廓动态调整到与光束不干涉的位置，而切割动作保持正常进行的切割状态，直至切割完成，进料与出料侧的组磁力皮带已调整到终止位，获得的加工片料通过出料组磁力皮带输出，与此同时进料与出料侧的组磁力皮带再次伸长或缩回至初始位，下一个组料进入激光加工区域，以此进行上料、切割、下料的循环加工。
本发明的优点在于：
本发明磁力皮带动态跟随激光切割的方法及其系统采用了灵活的组料供料方式，使产线得到大幅度的优化，组料通过激光切割的方法与排料优化使得材料利用率进一步得到提高。另
外，本发明采用磁力皮带动态跟随激光切割的方法实现片料支撑、接料、废料自动剔除、激光通过等功能并结合机器人进行上料与下料作业而达到了自动化加工的目的。
附图说明
图1为本发明一实施例的布置图；
图2为本发明实施例中的相机装配位置示意图；
图3-图6为本发明实现磁力皮带动态跟随激光切割的磁力皮带调整过程图；
图7为本发明数控控制系统与磁力皮带轴控制系统同步方法示意图。
具体实施方式
参见图1-图7，本发明的一种磁力皮带动态跟随激光切割的系统，其包括：
一加工位1；
两磁力皮带组2、2’，分别设置于所述加工位1的进料侧和出料侧，磁力皮带组2、2’中各根磁力皮带可伸长或缩回，且各磁力皮带间间隙可调；
一激光切割机3及激光切割头31，设置于所述加工位1；
上料机器人4及其端拾器41，设置于所述加工位1的进料侧磁力皮带组2外侧，相对的另外一侧设置一组料垛5，端拾器41上安装组料边部测量装置6；
下料机器人7及其端拾器71，设置于所述加工位1的出料侧磁力皮带组2’外侧，相对的另外一侧设置一片料垛8；
废料传送带装置9，设置于所述加工位1与进料方向垂直的一侧；
烟尘处理系统10，对应所述加工位1的下方；
组料切割的实时测量装置11，包括用于工件坐标测量的两个相机111安装于激光切割机3上，一个安装切割机XY平台上，一个安装在切割机Z轴上加强检测精度。用于切割后分离视觉检测识别、废料掉落视觉检测识别的两个相机112安装于隔离加工位1的密闭房12上。
片料搬运前的位置检测装置13，设置于加工位外侧的出料侧磁力皮带组位置的搬运位，本实施例中安装在加工位1外的密闭房12外侧，位置检测装置13--相机视觉范围通过角度倾斜的安装方式可覆盖片料输出区域。
其中，激光切割机3为直角坐标机器人形式，可沿XYZ三个方向运动，工作行程长4000mm(X轴)×宽2000mm(Y轴)×厚200mm(Z轴)。
经套料后设计的定尺长宽的组料成垛置于组料垛1上，位于上料端拾器41上的组料边部测量装置6对组料垛1上的组料位置进行一次性的测量，而纠正上料机器人4的位姿，随后上料机器人4上的端拾器41吸取一件组料置于进料侧磁力皮带组2上。进料侧各根磁力皮带间隙可以根据组料宽度与切割轮廓预先调整至固定间隙与固定的伸缩位置形成进料侧组磁力皮带的进料初始位， 同时出料侧磁力皮带根据组料宽度与切割轮廓预先调制至固定间隙与固定的伸缩位置形成出料侧组磁力皮带的出料初始位。
本实施例1中，进料侧磁力皮带组2为4根，出料侧磁力皮带组2’为5根。进料侧磁力皮带组2将组料送至激光切割区域，进入激光切割区域的组料位置由工件坐标测量的两个相机111对组料位置进行快速测量，其精度在1mm内，通过有效的测量获悉组料的位置与角度，以在切割作业前修正数控系统工件坐标系的原点位置坐标与角度。激光切割头31对已进行修正的坐标与角度对组料按需要加工的轮廓形状以规划的路径顺序，通过激光切割机3使激光切割头31在XYZ三个方向运动完成切割动作。
在切割过程中，进料侧与出料侧磁力皮带可根据切割路径同步动态调节，根据切割形状决定伸缩调节量，同步动态的调节采用切割控制系统中给出信号的方式传送给磁力皮带伸缩控制模块实现，调节过程中磁力皮带需要让出在切割过程中的割缝，避免激光透过组料接触到任意一根磁力皮带；已完成的切割轮廓对应位置的进料侧与出料侧磁力皮带可以伸长或缩回，对加工片料起到稳定支撑作用，同时保证出料侧接料出料的需要。完成加工后，进料侧组磁力皮带位于进料终止位，出料侧组磁力皮带位于出料终止位，同时由切割后分离视觉检测识别、废料掉落视觉检测识别的两个相机112检测废料自动剔除与断料情况。完成检测后，片料在出料侧组磁力皮带上的出料终止位进入出料输出状态并输出至搬运位。对于拾取片料的精确位置可通过在搬运前的位置检测装置13进行检测并反馈以使下料机器人7纠正搬运位姿而进一步保证堆垛片料的垛位差在精度要求内。下料机器人末端的下料端拾器71进行位姿调节后对获得片料进行拾取并堆垛至片料垛8上。
在切割过程中进料侧与出料侧磁力皮带可根据切割路径同步动态调节的具体的方法是：对于切割轮廓形状所形成的切割路径，提取其中的切割特征信息在切割控制系统中给出相应信号，即编制切割特征信息对应所要调节的磁力皮带伸缩动作，由数控控制与磁力皮带轴控制通过通信实现磁力皮带的调节；磁力皮带组中的每根磁力皮带都可实现伸长与缩回的动态调整，且磁力皮带调节过程中数控控制器同步在执行切割路径的切割。进一步，同步动态调节的具体过程是：组料运动到切割区域后保持静止，此时进料侧组磁力皮带在进料初始位，出料侧组磁力皮带在出料初始位。根据运行的已编制特征信息对应调节的磁力皮带动作，当切割过程运动到切割控制系统中特征信息时，对应的磁力 皮带开始伸长或缩回直至到设计位置，此时为进料与出料侧的组磁力皮带动态调整阶段。各磁力皮带都根据激光切割轮廓动态调整到与光束不干涉的位置，而切割动作保持正常进行的切割状态，直至切割完成，进料与出料侧的组磁力皮带已调整到终止位，获得的加工片料通过出料组磁力皮带输出，与此同时进料与出料侧的组磁力皮带再次伸长或缩回至初始位，下一个组料进入激光加工区域，以此进行上料、切割、下料的循环加工。
具体的，在切割过程中，首先，进料侧磁力皮带组2的4个磁力皮带C11、C12、C13、C14及出料侧磁力皮带组2’的5个磁力皮带C21、C22、C23、C24、C25分别在进料初始位与出料初始位，如图3所示。图中切割路径有L1、L2、L3、L4，其中切割路径L1被分为P1与P2两部分并分别含有切割特征信号的N1与N2，所述的切割路径诸如P1、P2等是为了解释磁力皮带伸长或缩回而定义，一根切割线可以由若干个路径组成。在切割路径P1的时候，出料磁力皮带C24已根据特征信号N1缩回而避开了切割路径P1，如图4所示。
当切过切割路径P1时，进料磁力皮带C14已根据特征信号N2缩回而避开切割路径P2，与此同时，出料磁力皮带C24已根据特征信号N2伸长而接住片料的部分，如图5所示。随后，激光头对路径L2进行切割，此时进料磁力皮带C14再次根据某特征信号N3缩回而避开切割路径L2，同时进料磁力皮带C14已调整到进料终止位，图6中一并示意了进料磁力皮带与出料磁力皮带最后的终止位。下一组料再次进入设定切割区域，进入下一件组料加工的循环作业中。其中，在运动中的磁力皮带磁性释放，在静止中的磁力皮带根据加工件需要全部或部分上磁，每根磁力皮带都分布有电磁铁模块并可单独控制，同样的，对于切割轮廓形状所形成的切割路径，编制磁性特征信息对应的磁力皮带电磁模块的磁性信号，在切割系统控制下实现磁性的控制。
为了实现磁力皮带动态跟随激光切割的方法，其切割控制系统的实现方法是激光切割机与进料和出料组磁力皮带通过数控控制系统与磁力皮带控制系统以及磁力皮带电磁控制系统之间的profibus通信实现协同控制，这种方法有效保证了磁力皮带组动态跟随激光切割过程，同时有效控制磁性添加与释放，数控控制系统预先制定切割路径、切割特征信号、磁性特征信号规则，如图7示意了数控控制系统与磁力皮带控制系统同步方法。

Claims (9)

  1. 一种磁力皮带动态跟随激光切割的系统，其特征在于，包括：
    一加工位；
    两磁力皮带组，分别设置于所述加工位的进料侧和出料侧，磁力皮带组中各根磁力皮带可伸长或缩回，且各磁力皮带间的间隙可调；
    激光切割单元，设置于所述加工位，其包含至少一激光切割机及激光切割头；
    上料机器人及其端拾器，设置于所述加工位的进料侧磁力皮带组外侧，相对的另外一侧设置一组料垛，端拾器上安装组料边部测量装置；
    下料机器人及其端拾器，设置于所述加工位的出料侧磁力皮带组外侧，相对的另外一侧设置一片料垛；
    废料传送带装置，设置于所述加工位与进料方向垂直的一侧；
    烟尘处理装置与组料切割的实时测量装置，设于加工位；
    片料堆垛前的位置检测装置，设于加工位外侧的出料侧磁力皮带组位置的搬运位；
    切割控制系统，磁力皮带组、激光切割单元、上料机器人、下料机器人、废料传送带装置、烟尘处理装置、实时测量装置和片料位置检测装置分别连接切割控制系统，使以上各单元与装置之间互相通信形成关联的作业控制，且磁力皮带伸长或缩回与激光切割头随动。
  2. 如权利要求1所述的磁力皮带动态跟随激光切割的系统，其特征在于，所述的磁力皮带组，包括，
    分别控制进料侧与出料侧磁力皮带组的传送电机及其控制模块；
    若干磁力皮带，每个磁力皮带包括：
    至少一个可单独控制的电磁模块；
    控制各磁力皮带伸缩的伸缩电机及其控制模块；
    控制各磁力皮带间隙调节的宽度电机及其控制模块。
  3. 如权利要求1所述的磁力皮带动态跟随激光切割的系统，其特征在于，所述的组料边部测量装置包括用于组料垛位位置检测的一个测距传感器和两个光电开关。
  4. 如权利要求1所述的磁力皮带动态跟随激光切割的系统，其特征在于，所 述的组料切割的实时测量装置，包括：
    用于工件坐标测量的两个相机；
    用于废料掉落视觉检测识别、切割后分离视觉检测识别的两个相机。
  5. 如权利要求1所述的磁力皮带动态跟随激光切割的系统，其特征在于，所述的片料堆垛前的片料位置检测装置包括一个相机，安装于搬运位上方，用于检测片料在搬运位的位置。
  6. 如权利要求1所述的磁力皮带动态跟随激光切割的系统的激光切割方法，其特征是，
    a)首先，根据片料图形设计获得定尺长宽的组料；
    b)进料侧各根磁力皮带间隙根据组料宽度与切割轮廓预先调整至固定间隙与固定的伸缩位置形成进料侧磁力皮带组的进料初始位，同时出料侧各根磁力皮带根据组料宽度与切割轮廓预先调制至固定间隙与固定的伸缩位置形成出料侧组磁力皮带的出料初始位；
    c)在获得定尺长宽的组料后，组料成垛置于组料垛上，组料边部测量装置对组料垛上的组料位置进行测量，随后，上料机器人上的端拾器吸取一件组料置于进料侧磁力皮带组上，进料侧磁力皮带组将组料送至激光切割加工位；
    d)进入加工位激光切割区域的组料由实时测量装置对组料位置进行快速定位测量，以在切割作业前修正控制系统工件坐标系的原点位置坐标以及角度，完成测量后，激光切割头对组料按需要加工的轮廓形状以规划的路径顺序进行切割：
    切割过程中，进料侧与出料侧的各根磁力皮带根据切割路径同步动态调节，根据切割形状决定伸缩调节量，同步动态的调节采用切割控制系统中给出信号的方式传送给磁力皮带伸缩控制模块实现，调节过程中磁力皮带需要让出在切割过程中的割缝，避免激光透过组料接触到任意一根磁力皮带；已完成的切割轮廓对应位置的进料侧与出料侧磁力皮带可以伸长或缩回，对加工片料起到稳定支撑作用，同时保证出料侧接料出料的需要；
    切割过程中，对于已形成的废料，在切割控制系统中给出信号传送给实时测量装置，实时对废料掉落情况进行检测识别；切割完成后，切割控制系统给出信号，组料切割的实时测量装置对已完成的全部切割轮 廓进行检测，判定加工片料与组料的分离情况；
    e)片料加工完成后，进料侧磁力皮带组位于进料终止位，出料侧磁力皮带组位于出料终止位；加工片料在出料侧磁力皮带组上的出料终止位进入出料输出状态并输出至搬运位，与此同时，进料与出料侧的磁力皮带组再次伸长或所谓至初始位置，进料侧磁力皮带组将第二片组料再次送至激光切割加工位，以此进行上料、切割、下料的循环加工；
    f)在片料搬运前，片料位置检测装置的相机对片料位置进行检测，将片料位置反馈给下料机器人以纠正其位姿，随后下料机器人末端的端拾器对加工片料吸附拾取并堆垛至垛料位。
  7. 如权利要求6所述的激光切割方法，其特征是，在切割过程中，进料侧与出料侧各根磁力皮带可根据切割路径同步动态调节：对于切割轮廓形状所形成的切割路径，编制切割特征信息对应所要调节的磁力皮带伸缩作业的相应信号，在切割系统控制下实现磁力皮带的伸缩调节；磁力皮带组中的每根磁力皮带都可实现伸长与缩回的动态调整，且磁力皮带调节过程中切割头同步在执行切割路径的切割。
  8. 如权利要求6所述的激光切割方法，其特征是，步骤d)在端拾器对组料上料前进行组料的位置和角度的测量，通过组料边部测量装置中的测距传感器进行端拾器与组料之间限定高度距离测量，光电开关进行组料的X、Y方向的边部位置检测并产生输出信号，用于测定组料位置和角度。
  9. 如权利要求6所述的激光切割方法，其特征是，进料侧与出料侧磁力皮带组通过控制电磁模块实现磁性的开与关，在激光切割区域的电磁模块在磁力皮带组静止时全部或部分上磁，在伸长或缩回的动态过程中电磁模块全部释放磁力；对于切割轮廓形状所形成的切割路径，编制磁性特征信息对应的磁力皮带电磁模块的磁性信号，在切割控制系统控制下实现电磁模块磁性的控制。
PCT/CN2016/077622 2015-08-31 2016-03-29 一种磁力皮带动态跟随激光切割的方法及其系统 WO2017036126A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US15/754,528 US10759003B2 (en) 2015-08-31 2016-03-29 Method and system for dynamically following laser cutting with magnetic belt
EP16840555.3A EP3345714B1 (en) 2015-08-31 2016-03-29 Method and system for dynamically following laser cutting with magnetic belt
JP2018511030A JP6741754B2 (ja) 2015-08-31 2016-03-29 磁気ベルトがレーザ切断に動的に追従することを可能にする方法およびシステム

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510546849.3 2015-08-31
CN201510546849.3A CN105033468B (zh) 2015-08-31 2015-08-31 一种磁力皮带动态跟随激光切割的方法

Publications (1)

Publication Number Publication Date
WO2017036126A1 true WO2017036126A1 (zh) 2017-03-09

Family

ID=54440747

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/077622 WO2017036126A1 (zh) 2015-08-31 2016-03-29 一种磁力皮带动态跟随激光切割的方法及其系统

Country Status (5)

Country Link
US (1) US10759003B2 (zh)
EP (1) EP3345714B1 (zh)
JP (1) JP6741754B2 (zh)
CN (1) CN105033468B (zh)
WO (1) WO2017036126A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113035614A (zh) * 2021-03-12 2021-06-25 宁波华科汽车零部件有限公司 一种用于组合开关的动触片裁切机构及其使用方法
CN113393106A (zh) * 2021-06-04 2021-09-14 北京科技大学 一种针对激光切割生产线的仿真系统及方法

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105033468B (zh) * 2015-08-31 2018-01-30 宝山钢铁股份有限公司 一种磁力皮带动态跟随激光切割的方法
CN105328344B (zh) * 2015-11-14 2017-07-04 苏州光韵达光电科技有限公司 一种用于球栅陈列结构pcb的激光除胶装置及方法
KR20170087610A (ko) * 2016-01-21 2017-07-31 삼성전자주식회사 웨이퍼 절단 장치
CN106271106B (zh) * 2016-08-31 2018-03-30 江苏亚威机床股份有限公司 一种三个激光切割头同时切割一工件的切割路径规划方法
CN106181029B (zh) * 2016-08-31 2018-08-17 江苏亚威机床股份有限公司 一种用于激光切割区域同步伸缩皮带装置
JP6730162B2 (ja) * 2016-10-27 2020-07-29 株式会社アマダ レーザ加工機
WO2018103071A1 (zh) * 2016-12-09 2018-06-14 冯庆柱 一种激光焊接质量监测装置
DE102017004318B3 (de) * 2017-04-27 2018-04-05 Maximilian Setterl Vorrichtung und Verfahren zum Transportieren und Bearbeiten von Halbzeugen
CN109262143A (zh) * 2017-07-12 2019-01-25 上海宝钢工业技术服务有限公司 薄板带钢检测样品的智能化加工系统
CN107745188A (zh) * 2017-09-30 2018-03-02 深圳信息职业技术学院 一种皮秒激光加工设备
CN111360413B (zh) * 2020-03-12 2022-08-16 新代科技(苏州)有限公司 一种镭射打标系统及其控制方法
CN111702345A (zh) * 2020-04-28 2020-09-25 周天桥 一种磁吸电连式超高精度激光曲线切割设备
CN113102906B (zh) * 2021-02-28 2023-09-01 宜宾卓邦科技有限公司 一种激光切割自动矫正方法
CN113458675A (zh) * 2021-08-19 2021-10-01 安徽新高电气有限公司 一种机器人焊机
CN116921943B (zh) * 2023-09-15 2024-01-23 广东洋基科技有限公司 一种锂电池组电极镍片多维辅助焊接装置及方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5185510A (en) * 1990-07-04 1993-02-09 Bystronic Laser Ag Installation for cutting a workpiece and method for the control thereof
JPH0663780A (ja) * 1992-08-20 1994-03-08 Nkk Corp レーザー切断設備
CN101434009A (zh) * 2007-11-14 2009-05-20 盟立自动化股份有限公司 激光切割装置的自动控制方法
CN102218601A (zh) * 2011-03-30 2011-10-19 无锡华联精工机械有限公司 激光切割机
CN203696572U (zh) * 2014-01-21 2014-07-09 深圳市大族激光科技股份有限公司 用于激光切割机的双料库自动上下料生产线
EP2823932A1 (en) * 2012-03-08 2015-01-14 Baoshan Iron & Steel Co., Ltd. Motor vehicle panel blanking method and system
CN104400232A (zh) * 2014-10-22 2015-03-11 武汉辉科光电有限公司 激光精密钣金加工工艺及其实现系统
CN104555519A (zh) * 2014-12-25 2015-04-29 珠海拾比佰彩图板股份有限公司 一种磁力皮带自动垛板机
CN105033468A (zh) * 2015-08-31 2015-11-11 宝山钢铁股份有限公司 一种磁力皮带动态跟随激光切割的方法及其系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60107666A (ja) * 1983-11-17 1985-06-13 Fuji Xerox Co Ltd 定着装置
WO2010085486A1 (en) * 2009-01-20 2010-07-29 Automatic Feed Company Laser blanking from coil strip profile conveyor system
CN102649193B (zh) * 2011-02-24 2015-04-01 宝山钢铁股份有限公司 带钢在线激光切割焊接装置及方法
US9427824B2 (en) * 2011-06-16 2016-08-30 Preco, Inc. Laser processing system and method of use
CN103600171B (zh) * 2013-04-28 2015-12-09 宝山钢铁股份有限公司 一种金属板上下料及切割的方法及系统
CN103600170B (zh) * 2013-04-28 2015-08-26 宝山钢铁股份有限公司 一种纵向金属板上下料与切割方法及其系统
CN103624487A (zh) * 2013-04-28 2014-03-12 宝山钢铁股份有限公司 一种开卷落料成形方法
CN103600353B (zh) * 2013-04-28 2016-01-27 宝山钢铁股份有限公司 一种端拾器对组料边部检测的方法
CN103600234A (zh) * 2013-04-28 2014-02-26 宝山钢铁股份有限公司 一种钢板组合剪切方法与系统
US20140374390A1 (en) * 2013-06-24 2014-12-25 Michael Beransky High production laser cutting automated system
DE102013226816A1 (de) * 2013-12-20 2015-06-25 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Maschine zum trennenden Bearbeiten von plattenförmigen Werkstücken
DE102013226818B4 (de) * 2013-12-20 2015-07-30 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Maschine zum trennenden Bearbeiten von plattenförmigen Werkstücken
DE102013226821B4 (de) * 2013-12-20 2020-09-03 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Maschine zum trennenden Bearbeiten von plattenförmigen Werkstücken, Verfahren zum trennenden Bearbeiten eines Werkstücks und Computerprogrammprodukt
KR101647019B1 (ko) * 2014-11-27 2016-08-11 한전원자력연료 주식회사 지지격자 용접치구 장입장치
CN104551416A (zh) * 2014-12-31 2015-04-29 苏州凯锝微电子有限公司 一种适用于晶圆的切割装置
JP6528482B2 (ja) * 2015-03-17 2019-06-12 株式会社ジェイテクト ラック軸及びステアリング装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5185510A (en) * 1990-07-04 1993-02-09 Bystronic Laser Ag Installation for cutting a workpiece and method for the control thereof
JPH0663780A (ja) * 1992-08-20 1994-03-08 Nkk Corp レーザー切断設備
CN101434009A (zh) * 2007-11-14 2009-05-20 盟立自动化股份有限公司 激光切割装置的自动控制方法
CN102218601A (zh) * 2011-03-30 2011-10-19 无锡华联精工机械有限公司 激光切割机
EP2823932A1 (en) * 2012-03-08 2015-01-14 Baoshan Iron & Steel Co., Ltd. Motor vehicle panel blanking method and system
CN203696572U (zh) * 2014-01-21 2014-07-09 深圳市大族激光科技股份有限公司 用于激光切割机的双料库自动上下料生产线
CN104400232A (zh) * 2014-10-22 2015-03-11 武汉辉科光电有限公司 激光精密钣金加工工艺及其实现系统
CN104555519A (zh) * 2014-12-25 2015-04-29 珠海拾比佰彩图板股份有限公司 一种磁力皮带自动垛板机
CN105033468A (zh) * 2015-08-31 2015-11-11 宝山钢铁股份有限公司 一种磁力皮带动态跟随激光切割的方法及其系统

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113035614A (zh) * 2021-03-12 2021-06-25 宁波华科汽车零部件有限公司 一种用于组合开关的动触片裁切机构及其使用方法
CN113035614B (zh) * 2021-03-12 2022-09-13 宁波华科汽车零部件有限公司 一种用于组合开关的动触片裁切机构及其使用方法
CN113393106A (zh) * 2021-06-04 2021-09-14 北京科技大学 一种针对激光切割生产线的仿真系统及方法

Also Published As

Publication number Publication date
US10759003B2 (en) 2020-09-01
EP3345714A4 (en) 2019-05-15
US20180243862A1 (en) 2018-08-30
EP3345714B1 (en) 2020-04-29
JP6741754B2 (ja) 2020-08-19
JP2018526221A (ja) 2018-09-13
CN105033468B (zh) 2018-01-30
CN105033468A (zh) 2015-11-11
EP3345714A1 (en) 2018-07-11

Similar Documents

Publication Publication Date Title
WO2017036126A1 (zh) 一种磁力皮带动态跟随激光切割的方法及其系统
WO2017036127A1 (zh) 一种同步通板动态跟随激光切割的方法及其系统
US9908168B2 (en) Method and device to produce a shaped sheet metal part
CN106770331B (zh) 一种基于机器视觉的工件缺陷检测系统
CN108907022B (zh) 一种具有自动粘贴海绵单元的智能钣金件生产系统
CN107150032B (zh) 一种基于多图像获取设备的工件识别与分拣装置和方法
CN104807832A (zh) 硅锭自动精检生产线
CN207655722U (zh) 一种机械手自动化冲压生产线
CN108788630B (zh) 汽油发动机轮毂全自动加工装置及工艺方法
CN107377757B (zh) 一种五金智能加工系统
CN111451649B (zh) 一种激光切管机上料方法和激光切管机
CN109311072B (zh) 用于将金属板输送至冲压机的方法和设备
CN106672634B (zh) 一种铝型材自动堆垛系统及其控制方法
CN108480537A (zh) 一种用于齿轮零件的一体化锻造与检测生产线及其工作方法
CN104511548A (zh) 一种冲压机床平移式双面进料装置
CN211568427U (zh) 一种弹片端子自动检测包装机
CN211305477U (zh) 一种板类零件的加工装置
CN107598561B (zh) 一种汽车门板的卡簧卡扣和螺丝的组装监测方法
JP2007069239A (ja) 自動プレス設備
CN212576910U (zh) 扣件排料装置
CN118415206A (zh) 造型面点成形装置及方法
CN112077010A (zh) 一种基于视觉感应的分离机械臂
CN111017309A (zh) 一种弹片端子自动检测包装机
JP2013158881A (ja) 加工システム
BG111452A (bg) Автоматична линия за производство на детайли за изработване на стоманени врати

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16840555

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 15754528

Country of ref document: US

ENP Entry into the national phase

Ref document number: 2018511030

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2016840555

Country of ref document: EP