WO2023016073A1

WO2023016073A1 - Waterjet cutting device

Info

Publication number: WO2023016073A1
Application number: PCT/CN2022/097520
Authority: WO
Inventors: 孙玉春; 郭传瑸; 张耀鹏; 王勇; 柯怡芳; 翟文茹
Original assignee: 北京大学口腔医学院
Priority date: 2021-08-12
Filing date: 2022-06-08
Publication date: 2023-02-16
Also published as: CN113427403A; CN113427403B

Abstract

Provided is a waterjet cutting device, comprising a waterjet cutting head assembly (100). The waterjet cutting head assembly (100) comprises: a liquid transfer pipe (102), the liquid transfer pipe (102) being configured to allow a treatment liquid to be able to flow therethrough, and a first end of the liquid transfer pipe (102) being in communication with a liquid storage portion; a jetting portion (104), the jetting portion (104) being arranged at a second end of the liquid transfer pipe (102), the jetting portion (104) being provided with at least one slit-like liquid outlet (1042) in an extension direction of the liquid transfer pipe (102), and the treatment liquid cutting an object to be cut by means of the liquid outlet (1042); a detection portion (106), the detection portion (106) being arranged in the extension direction of the liquid transfer pipe (102), and the detection portion (106) being configured to extend or retract in a liquid output direction of the liquid outlet (1042) to detect the form of a cutting depression that is formed by cutting the object to be cut by means of the treatment liquid; and a mechanical arm (122), the mechanical arm (122) being connected to the waterjet cutting head assembly (100), and the mechanical arm (122) driving the waterjet cutting head assembly (100) to adjust the relative position between the waterjet cutting head assembly and the object to be cut. The waterjet cutting device improves the accuracy, automation degree, cleanliness, efficiency and operability of the cutting process.

Description

Water jet cutting device

technical field

The present disclosure relates to the technical field of water jet cutting, in particular, to a water jet cutting device.

Background technique

At present, high-speed turbo drills are usually used for small-scale cutting of hard objects such as objects to be cut, bones and wood boards. Because the volume of high-speed turbo drill is usually relatively large, it is difficult to operate in a narrow space, and it will produce strong mechanical collision, that is, the cutting accuracy is poor, which will not only damage the non-cutting area, but also cause mechanical damage during operation. Friction generates a large amount of heat that may cause necrosis of non-ablative areas.

In related technologies, water jets are used in more and more application scenarios to replace mechanical knife drills. Water jets are a new type of cutting tool that came out after electric knives and ultrasonic knives. Small and other advantages.

However, the existing waterjet cutting has at least the following problems:

(1) It is necessary to manually operate the water jet for cutting. Due to the huge difference in manual experience and different operating proficiency, the accuracy and reliability of the cutting process are poor.

(2) In the process of waterjet cutting, a large amount of waste liquid will be generated, which not only leads to poor cleanliness of the cutting pocket, but also leads to low cutting efficiency.

It should be noted that the information disclosed in the above background section is only for enhancing the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to those of ordinary skill in the art.

Contents of the invention

The purpose of the present disclosure is to provide a water jet cutting device for overcoming the problem of poor cutting reliability due to limitations and defects of the related art at least to a certain extent.

According to the first aspect of an embodiment of the present disclosure, there is provided a waterjet cutting device, including: a waterjet head assembly, the waterjet head assembly includes: an infusion tube, the infusion tube is configured to be able to flow through the treatment liquid, The first end of the infusion tube is connected to the liquid storage part; the injection part is arranged at the second end of the infusion tube, and the injection part is formed with at least one liquid outlet along the extending direction of the infusion tube. mouth, the processing liquid cuts the object to be cut through the liquid outlet; detection part, the detection part is arranged along the extension direction of the infusion tube, and the detection part is configured to The liquid outlet direction of the port expands and contracts to detect the shape of the cutting dimple formed by the processing liquid cutting the object to be cut; the mechanical arm is connected to the water jet head assembly, and the mechanical arm drives the Adjust the relative position between the water jet cutter head assembly and the object to be cut.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

Fig. 1 shows a schematic structural view of a water jet cutting device in an exemplary embodiment of the present disclosure;

Fig. 2 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 3 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 4 shows a schematic structural diagram of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 5 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 6 shows a schematic structural diagram of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 7 shows a schematic structural diagram of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 8 shows a schematic structural diagram of a water jet cutting device in another exemplary embodiment of the present disclosure;

Figure 9 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 10 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 11 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 12 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure;

Fig. 13 shows a schematic structural view of a water jet cutting device in another exemplary embodiment of the present disclosure,

The corresponding relationship between the structures in the accompanying drawings and the serial numbers is as follows:

Waterjet head assembly 100, infusion tube 102, first end 1022 of infusion tube, second end 1024 of infusion tube, injection part 104, liquid outlet 1042, detection part 106, stretching direction 1061 of flexible probe, probe Tube 1062, flexible probe 1064, scale 1066, scale probe 1068, first pipette 1082, second pipette 1084, recovery pipe 1086, chamber 110, first chamber 1102, second chamber 1104, Filter element 112, guide plate 116, positioning element 1162, positioning hole 1164, turntable assembly 118, mounting hole 120, mechanical arm 122, base 1220, first rotating element 1222, first arm 1224, second rotating element 1226, second arm 1228, third rotating member 1230, mounting plate 1232, drain valve 124, α characteristic structure 1262, β characteristic structure 1264, ρ characteristic structure 1266, o characteristic structure 1268, θ characteristic structure 1270, scanning device 128, optical detector 130 , a sending unit 1302 , a receiving unit 1304 , a waterjet head identification 1306 , and a mechanical arm identification 1308 .

Detailed ways

Exemplary implementations of the present disclosure will be described in detail below in conjunction with the accompanying drawings.

FIG. 1 is a flowchart of a waterjet cutting device in an exemplary embodiment of the present disclosure.

Referring to FIG. 1 , the waterjet cutting device may include: a waterjet head assembly 100, and the waterjet head assembly 100 includes: an infusion tube 102, which is configured to be capable of circulating a treatment liquid, and a first end 1022 of the infusion tube 102 Connected to the liquid storage part; the injection part 104, the injection part 104 is arranged on the second end 1024 of the infusion tube 102, the injection part 104 is formed with at least one liquid outlet 1042 along the extension direction of the infusion tube 102, and the treatment liquid passes through the The liquid outlet cuts the object to be cut; the detection part 106, the detection part 106 is arranged along the extension direction of the infusion tube 102, and the detection part 106 is configured to expand and contract along the liquid outlet direction of the liquid outlet, so as to detect the object to be cut by the processing liquid The shape of the cutting pocket formed by cutting; the mechanical arm 122, the mechanical arm 122 is connected to the water jet cutter head assembly 100, and the mechanical arm 122 drives the water jet cutter head assembly 100 to adjust the relative position with the object to be cut.

In the embodiment of the present disclosure, by setting the waterjet cutting device including the waterjet head assembly 100 and the mechanical arm 122, the detection part 106 The shape of the cutting pocket can be detected to refine the cutting progress and improve the cutting accuracy and reliability.

In an exemplary embodiment of the present disclosure, in the infusion tube 102, the solid degradable particles can be mixed with the liquid in the way of pre-mixing or post-mixing to obtain the treatment liquid, and the treatment liquid obtained after mixing can be used to treat the object to be cut. Impact can effectively improve the cutting strength and the efficiency of preparing cutting dimples.

In an exemplary embodiment of the present disclosure, the liquid used for pre-mixing or post-mixing may be a continuous jet or a pulsed jet.

In an exemplary embodiment of the present disclosure, the degradable particles may be at least one of bone meal particles, eggshell powder particles, sugar particles, salt particles, ice crystal particles and hydroxyapatite particles.

In an exemplary embodiment of the present disclosure, the shape of the liquid outlet 1042 is a slit.

In an exemplary embodiment of the present disclosure, the number of slit-shaped liquid outlets 1042 may be one or more.

In an exemplary embodiment of the present disclosure, by setting the injection part 104 to have a slit-shaped liquid outlet 1042 , the liquid outlet pressure is further improved, and in addition, the precision of waterjet cutting is also improved.

In an exemplary embodiment of the present disclosure, the injection part 104 may adopt a needle nozzle, which can slow down the diffusion phenomenon and cause less energy loss to the entire jet flow.

In an exemplary embodiment of the present disclosure, the spray part 104 may be designed as two nozzles at an angle to each other, so as to reduce the conical structure formed by the water jet.

In an exemplary embodiment of the present disclosure, the spraying part 104 may include a plurality of independent nozzles, which is similar to a shower head, so as to improve the cutting efficiency of the waterjet.

In an exemplary embodiment of the present disclosure, the injection part 104 can form a rotating movement during operation, and prepare the sidewall of the seed cutting socket into a thread structure.

In an exemplary embodiment of the present disclosure, by setting the expansion and contraction direction 1061 of the detection part 106 as the liquid outlet direction, the detection part 106 realizes the contact detection of the shape of the cutting dimple, and adjusts the injection part 104 in a negative feedback mode. Jetting parameters improve the reliability of waterjet cutting.

Each structure of the water jet cutting device will be described in detail below with reference to FIGS. 2 to 13 .

In an exemplary embodiment of the present disclosure, as shown in FIG. 2 , FIG. 3 and FIG. 4 , the detection part 106 includes a probe tube 1062 arranged along the direction of the infusion tube 102; The needle 1064 and the flexible probe 1064 run through the probe tube 1062. The flexible probe 1064 extends from the inside of the probe tube 1062 to the cutting area of the object to be cut. The flexible probe 1064 is provided with a scale 1066. The extended dimensions of the probes 1064 are the same; the scale probe 1068 is set opposite to the scale 1066 , and the scale probe 1068 is used to detect the movement size of the scale 1066 .

In an exemplary embodiment of the present disclosure, the probe tube 1062 is arranged along the direction of the infusion tube 102, and the retractable flexible probe 1064 built in the probe tube 1062 detects along the liquid outlet direction, and the retractable flexible probe The probe 1064 protrudes toward the cutting pit inside the infusion tube 102. Once the flexible probe 1064 touches the inner wall of the cutting pit, it stops probing. The scale 1066 stays still with the flexible probe 1064, and the moving distance of the scale 1066 is the length of the flexible probe 1064. The detection distance is indirectly obtained by detecting the movement distance of the detection scale 1066 through the scale 1066, and the working condition parameters and position of the injection part 104 are adjusted through the negative feedback detection distance to improve the reliability and accuracy of waterjet cutting.

In an exemplary embodiment of the present disclosure, the operating condition parameters of the injection part 104 include at least one of liquid flow, flow velocity and pressure, but are not limited thereto.

In an exemplary embodiment of the present disclosure, the position of the spraying part 104 includes a position in the world coordinate system and/or a relative position between the spraying part 104 and the object to be cut, but is not limited thereto.

In an exemplary embodiment of the present disclosure, the water jet cutting device further includes a suction pipe, the liquid suction port of the liquid suction pipe is arranged adjacent to the liquid outlet, and the liquid suction pipe is used to recover and absorb the liquid in the cutting area.

In the above-mentioned embodiment, the liquid in the area to be cut includes the waste liquid of the processing liquid and/or the liquid containing powder and particles of the cut object, etc., the liquid in the cutting nest is sucked through the suction pipe, and can be carried out after sucking. Filtration recovery or discharge treatment.

In an exemplary embodiment of the present disclosure, the liquid in the cutting area is recovered and sucked by setting a suction pipe, which improves the cleanliness of the cutting area. In addition, because the processing liquid is cleaned up in time, it is also conducive to spraying The water jet in the part 104 directly performs non-contact soft cutting on the cutting socket, thereby improving the efficiency and accuracy of water jet cutting.

In an exemplary embodiment of the present disclosure, the liquid suction tube may include a first liquid suction tube 1082 and a second liquid suction tube 1084 distributed on both sides of the spray part 104, but is not limited thereto.

In an exemplary embodiment of the present disclosure, the suction pipe may include one or more sub-pipettes, and the multiple sub-pipettes may be arranged symmetrically or asymmetrically around the injection part 104, and the lengths may be the same or may be Are not the same.

In an exemplary embodiment of the present disclosure, as shown in FIG. 5 , the waterjet cutting device further includes: a recovery part, which is connected to the suction pipe, and the recovery part includes: an accommodation cavity 110; a filter element 112, The filter element 112 is arranged in the accommodation cavity 110, and the filter element 112 divides the accommodation cavity 110 into two connected first cavity 1102 and second cavity 1104, the top of the first cavity 1102 is connected to the suction pipe , the filter element 112 is used to filter the recovered treatment liquid in the first cavity 1102, and the filtered treatment liquid is discharged from the liquid discharge port of the second cavity 1104; the recovery liquid pipe 1086, the first recovery liquid pipe 1086 One end is connected to the top of the first cavity 1102, and the second end of the recovery liquid pipe 1086 is connected to a negative pressure pump, and the negative pressure pump applies negative pressure to the first cavity 1102 through the recovery liquid pipe 1086 to The filtered particles in the first cavity 1102 are recovered.

In an exemplary embodiment of the present disclosure, the water jet cutting device includes: a recovery part, which filters the treatment liquid recovered by the suction pipe, and the filtered waste liquid is discharged through the second cavity 1104, and passed through the filter element 112 retains the particles in the first cavity 1102, and after the treatment liquid in the second cavity 1104 is discharged, the particles in the first cavity 1102 are recovered by a negative pressure pump, and the recovered particles are sterilized and sterilized After lamp treatment, it can be used to mix into new treatment solution.

In an exemplary embodiment of the present disclosure, the negative pressure pump is set outside the recovery liquid pipe 1086 to attract reflected water, abrasives, and chips that have been cut, which can be screened, processed, and recycled as abrasives. The debris is bone particles, and the recovered bone particles can also be used in scenarios such as bone transplantation.

In an exemplary embodiment of the present disclosure, the negative pressure pump includes a housing, a negative pressure suction tube, a pressure regulating valve, a pressure display, a pressure sensor, etc., but is not limited thereto.

In an exemplary embodiment of the present disclosure, the filter element 112 includes at least one honeycomb partition.

In an exemplary embodiment of the present disclosure, as shown in FIG. 6 , the waterjet cutting device further includes a drain valve 124 . The drain valve 124 is arranged on the outer wall of the accommodating portion and communicated with the second cavity 1104 . The liquid discharge port is used to discharge the filtered treatment liquid.

In an exemplary embodiment of the present disclosure, by setting the waterjet cutting device to include the drain valve 124 , the draining efficiency of the waste liquid in the second cavity 1104 is improved, which is also beneficial to improving the recovery efficiency of particulate matter.

In an exemplary embodiment of the present disclosure, as shown in FIG. 7 and FIG. 8 , the waterjet cutting device further includes: a guide plate 116, the guide plate 116 includes a concave part matching the shape of the object to be cut, and the inner side of the concave part is covered Cover the object to be cut; the turntable assembly 118, the turntable assembly 118 is assembled on the outer surface of the recess, the turntable assembly 118 includes: the turntable groove, and the guide plate 116 is integrally formed to form an operation chamber covering the object to be cut, and the suction pipe is provided In the turntable groove, the liquid suction port of the suction pipe is connected to the operating chamber; the turntable is rotatably assembled on the side of the turntable groove opposite to the object to be cut, and the turntable has a mounting hole 120, and the liquid outlet of the injection part 104 passes through The mounting hole 120 is assembled on the turntable.

In an exemplary embodiment of the present disclosure, the waterjet cutting device includes a guide plate 116, a turntable assembly 118, a turntable groove, and a turntable. The guide plate 116 is attached to the surface of the object to be cut for preliminary fixation. The turntable assembly 118 is used to In the working chamber of the object to be cut, the spraying part 104 sprays and cuts the object to be cut through the installation hole 120 on the turntable, and the suction pipe extracts and recovers the waste liquid after cutting through the groove of the turntable.

In an exemplary embodiment of the present disclosure, the cutting process and the liquid suction process can be controlled to be alternately performed.

In an exemplary embodiment of the present disclosure, as shown in FIG. 9 , the spraying part 104 sprays the processing liquid on the area to be cut in the groove of the turntable through the installation hole 120. Since the mechanical arm 122 has six degrees of freedom, the spraying The portion 104 has six degrees of freedom to adjust the angle, position and distance from the area to be cut.

In an exemplary embodiment of the present disclosure, the turntable can rotate 360 degrees in the turntable groove.

In an exemplary embodiment of the present disclosure, the pipette can be on the top of the guide plate 116 or on the side of the guide plate 116 .

In an exemplary embodiment of the present disclosure, as shown in FIG. 8 , the area where the guide plate 116 contacts the object to be cut is provided with a positioning hole 1164, and the positioning hole 1164 is configured to be fixed to the object to be cut by a positioning member 1162.

In an exemplary embodiment of the present disclosure, by setting the positioning hole 1164 in the area where the guide plate 116 is in contact with the object to be cut, and fixing the object to be cut by the positioning piece 1162, the relationship between the waterjet head assembly 100 and the object to be cut is improved. The stability of the positions between the cutting objects improves the cutting accuracy and reliability of the waterjet head assembly 100 .

In an exemplary embodiment of the present disclosure, the guide plate 116 is provided with scanning features, and the scanning features are arranged alternately with the positioning holes 1164 .

In an exemplary embodiment of the present disclosure, by setting the scanning feature structure on the guide plate 116, and the scanning feature structure and the positioning holes 1164 are alternately arranged, the placement orientation of the guide plate 116 can be determined through the scanning feature structure, and the water jet can be adjusted. The relative position between the head assembly 100 and the guide plate 116 further improves the reliability and precision of waterjet cutting.

In an exemplary embodiment of the present disclosure, as shown in FIG. 13 , the scanning features include α feature 1262 , β feature 1264 , ρ feature 1266 , o feature 1268 and θ feature 1270 , but are not limited to this.

In an exemplary embodiment of the present disclosure, the waterjet cutting device further includes: a scanning device 128, the scanning device 128 is assembled on the mechanical arm 122, the probe of the scanning device 128 is set close to the liquid outlet of the spraying part 104, the scanning device 128 is used to collect images of the scanned feature structure and/or the object to be cut, so as to determine the relative position between the waterjet head assembly 100 and the object to be cut.

In an exemplary embodiment of the present disclosure, by setting the scanning device 128 on the mechanical arm 122 and setting the probe of the scanning device 128 close to the liquid outlet of the spraying part 104, the scanning device 128 determines the guide plate by collecting the scanning characteristic structure 116 and the position of the turntable groove, in addition, the scanning device 128 can also determine the area to be cut by scanning the object to be cut.

In an exemplary embodiment of the present disclosure, as shown in FIG. 10 , the scanning device 128 includes a laser three-dimensional scanner and/or an optical three-dimensional scanner.

In an exemplary embodiment of the present disclosure, as shown in FIG. 11 , the mechanical arm 122 includes: a base 1220; a first rotating member 1222, the first end of the first rotating member 1222 is assembled on the base 1220, the first rotating The member 1222 can rotate along the first direction; the first arm 1224, the first end of the first arm 1224 is fixedly assembled with the second end of the first rotating member 1222; the second rotating member 1226, the first end of the second rotating member 1226 Rotationally connected with the second end of the first arm 1224, the second rotating member 1226 can rotate in the second direction; the second arm 1228, the first end of the second arm 1228 is fixedly assembled with the second end of the second rotating member 1226; The third rotating member 1230, the first end of the third rotating member 1230 is rotationally connected with the second end of the second arm 1228, the second end of the third rotating member 1230 is fixedly assembled with the water jet cutter head assembly 100, the third rotating member 1230 can rotate along the third direction, and the third rotating member 1230 drives the waterjet head assembly 100 to adjust the relative position with the object to be cut, wherein, the plane to which the first direction belongs, the plane to which the second direction belongs, and the plane to which the third direction belongs Two by two vertical.

In an exemplary embodiment of the present disclosure, by setting the mechanical arm 122 to include a base 1220, a first rotating member 1222, a second rotating member 1226 and a third rotating member 1230, the three rotating members respectively realize two degrees of freedom Adjustment, and by setting the plane belonging to the first direction, the plane belonging to the second direction and the plane belonging to the third direction are perpendicular to each other, thereby realizing the adjustment of the position of the mechanical arm 122 on the water jet cutter head assembly 100 in three-dimensional space, and improving the water jet head assembly 100. The flexibility, precision and reliability of the cutter head assembly 100 for cutting the object to be cut.

In an exemplary embodiment of the present disclosure, a mounting plate 1232 is fixed at the end of the third rotating member 1230 , and both the infusion tube 102 and the scanning device 128 are fixedly assembled on the mounting plate 1232 .

In an exemplary embodiment of the present disclosure, as shown in FIG. 12 , the waterjet cutting device further includes: an optical detector 130 , the optical detector 130 is aligned with the base 1220 , and the optical detector 130 includes a sending unit 1302 and The receiving unit 1304, the sending unit 1302 is used to send the detection light, the receiving unit 1304 is used to detect the feedback signal of the detection light, and the detection light is used to detect the spatial position of the waterjet head mark 1306 and/or the spatial position of the mechanical arm mark 1308.

Claims

A water jet cutting device is characterized in that it comprises: a water jet cutter head assembly, and the water jet cutter head assembly includes:

An infusion tube, the infusion tube is configured to be able to flow through the treatment liquid, and the first end of the infusion tube is connected to the liquid storage part;

A spraying part, the spraying part is arranged at the second end of the infusion tube, and the spraying part is formed with at least one liquid outlet along the extension direction of the infusion tube, and the treatment liquid passes through the liquid outlet to the Cut the object to be cut;

a detection part, the detection part is arranged along the extension direction of the infusion tube, and the detection part is configured to expand and contract along the liquid outlet direction of the liquid outlet, so as to detect that the processing liquid cuts the object to be cut The shape of the cutting dimple formed;

A mechanical arm, the mechanical arm is connected to the water jet head assembly, and the mechanical arm drives the water jet head assembly to adjust its relative position to the object to be cut.
The water jet cutting device according to claim 1, wherein the detection part comprises:

a probe tube, the probe tube is arranged along the direction of the infusion tube;

A retractable flexible probe, the flexible probe runs through the probe tube, the flexible probe extends from the probe tube to the cutting area of the object to be cut, the flexible probe is provided with a ruler, the moving dimension of the ruler is the same as the extension dimension of the flexible probe;

A scale probe, the scale probe is set opposite to the scale, and the scale probe is used to detect the movement size of the scale.
The water jet cutting device according to claim 1 or 2, wherein the water jet cutting device further comprises:

A liquid suction pipe, the liquid suction port of the liquid suction pipe is arranged adjacent to the liquid outlet, and the liquid suction pipe is used to recover and absorb the liquid in the cutting area.
The water jet cutting device according to claim 3, wherein the water jet cutting device further comprises:

A recovery part, the recovery part is communicated with the suction pipe, and the recovery part includes:

Accommodating cavity;

A filter element, the filter element is arranged in the accommodating cavity, and the filter element divides the accommodating cavity into two connected first cavity and second cavity, the top of the first cavity is connected to into the suction pipe, the filter element is used to filter the recovered and sucked treatment liquid in the first cavity, and the filtered treatment liquid is discharged from the liquid discharge port of the second cavity;

A recovery liquid pipe, the first end of the recovery liquid pipe is connected to the top of the first cavity, the second end of the recovery liquid pipe is connected to a negative pressure pump, and the negative pressure pump passes through the recovery liquid The liquid pipe applies negative pressure to the first chamber to recover the filtered particles in the first chamber.
The water jet cutting device according to claim 4, wherein the water jet cutting device further comprises:

A liquid discharge valve, the liquid discharge valve is arranged on the outer wall of the accommodating part and communicated with the liquid discharge port of the second cavity, and is used for discharging the filtered treatment liquid.
The water jet cutting device according to claim 1 or 2, wherein the water jet cutting device further comprises:

a guide plate, the guide plate includes a concave part matching the shape of the object to be cut, and the inner side of the concave part covers the object to be cut;

A turntable assembly, the turntable assembly is assembled on the outer surface of the recess, the turntable assembly includes:

The turntable groove is integrally formed with the guide plate to form an operation chamber covering the object to be cut. The suction pipe is arranged on the turntable groove, and the suction port of the suction pipe is connected to the Operating cavity;

A turntable is rotatably assembled on the side of the turntable groove opposite to the object to be cut, and has a mounting hole on the turntable, and the liquid outlet of the spraying part is assembled to the turntable through the installation hole.
The water jet cutting device according to claim 6, wherein:

The area where the guide plate is in contact with the object to be cut is provided with a positioning hole, and the positioning hole is configured to be fixed to the object to be cut by a positioning member.
The water jet cutting device according to claim 7, wherein:

A scanning feature structure is provided on the guide plate, and the scanning feature structure is arranged alternately with the positioning holes.
The water jet cutting device according to claim 8, wherein the water jet cutting device further comprises:

A scanning device, the scanning device is assembled on the mechanical arm, the probe of the scanning device is arranged close to the liquid outlet of the spraying part, and the scanning device is used to collect the scanning feature structure and/or the waiting The image of the cutting object and/or the image of the object to be cut is used to determine the relative position between the waterjet head assembly and the object to be cut.
The water jet cutting device according to claim 1 or 2, wherein the mechanical arm comprises:

base;

a first rotating member, the first end of the first rotating member is assembled on the base, and the first rotating member can rotate along a first direction;

a first arm, the first end of the first arm is fixedly assembled with the second end of the first rotating member;

a second rotating member, the first end of the second rotating member is rotationally connected to the second end of the first arm, and the second rotating member can rotate along a second direction;

a second arm, the first end of the second arm is fixedly assembled with the second end of the second rotating member;

The third rotating member, the first end of the third rotating member is rotationally connected with the second end of the second arm, the second end of the third rotating member is fixedly assembled with the water jet cutter head assembly, and The third rotating member can rotate in a third direction, and the third rotating member drives the waterjet head assembly to adjust the relative position with the object to be cut,

Wherein, the plane to which the first direction belongs, the plane to which the second direction belongs, and the plane to which the third direction belongs are perpendicular to each other.