CN110774297B - Profile cutting device - Google Patents
Profile cutting device Download PDFInfo
- Publication number
- CN110774297B CN110774297B CN201911240103.4A CN201911240103A CN110774297B CN 110774297 B CN110774297 B CN 110774297B CN 201911240103 A CN201911240103 A CN 201911240103A CN 110774297 B CN110774297 B CN 110774297B
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- cutting
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- straight line
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- 238000005520 cutting process Methods 0.000 title claims abstract description 102
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0055—Cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a section bar cutting device which is characterized by mainly adopting a single robot and double cutting platforms arrangement mode, comprising a robot body (1), a cutting system (2), a robot travelling mechanism (3), a cutting platform (4) and a manual control box (5); after the section bar material loading is accomplished, only need the clamping button and the circulation start button of control manual box, can realize that the section bar cutting of one side is accomplished the back, the robot is automatic to the section bar of opposite side cut to use manpower sparingly, improve work efficiency.
Description
Technical field:
the invention relates to the technical field of profile cutting, in particular to a profile cutting device.
The background technology is as follows:
The general profile has a regular outline of 240mm or less and a wall thickness of 6-10mm and a length of 9 m, and is widely applied to the heavy-duty car production industry and road and bridge industry, such as car underframe longitudinal beams, sub-frame longitudinal beams, car side plate frames, road guardrails and the like. When in actual use, the sectional materials are required to be cut according to the requirements and the product drawing, the sub-frame longitudinal beam is taken as an example, the used sectional materials are rectangular pipes, and various square holes and round holes in the front end and the rear end and the middle part of the sectional materials are required to be cut according to the product drawing. Because the wall thickness of the section bar is thicker, in the prior art, the section bar is mainly cut by a special machine or manually scribing and gas cutting. Because the cutting torch moves vertically when the special machine is used for production, the special machine clamps the profile to rotate, each shape or profile needs to be matched with the position of the cutting torch to complete cutting, flaws such as cutting deflection or slope angle cutting are very easy to occur, the length of some profiles can reach 9 meters, the free straightness is poor, the middle part of the profile is easy to collapse when clamped, and the straightness cannot be controlled. When the artificial gas cutting is used, the scribing errors and the gas cutting errors are accumulated, so that the section bar is deformed, the requirements on the quality and the dimensional accuracy of the manufactured piece cannot be guaranteed, the production and management cost is high, the artificial gas cutting efficiency is low, and the labor intensity is high.
The invention comprises the following steps:
The invention aims to overcome the defects of the prior art and provide a profile cutting device.
The technical scheme provided by the invention is as follows: the profile cutting device is characterized by comprising a robot body, a cutting system, a robot travelling mechanism, a cutting platform and a manual control box;
The robot body is a 6-axis multi-joint cutting robot and is connected with the robot demonstrator through a data cable; the robot demonstrator is provided with an emergency stop button for controlling the emergency in the cutting process; the robot demonstrator is internally provided with a main program with a circulation starting function, the generated cutting program is brought into the main program, and the programs on two sides are circularly called to realize a circulation cutting function;
The cutting system comprises a cutting power supply and a cutting torch which are connected through a cable; the cutting torch is fixed at the tail end of the 6 th shaft of the robot body;
The robot walking mechanism comprises a fixed seat board platform, a gear mechanism is arranged at the bottom of the fixed seat board platform, a rack mechanism is arranged in the length direction, and gear-rack transmission is adopted; a fixed seat board platform of the robot travelling mechanism is provided with a robot body and a cutting power supply, the robot body moves upwards along the length direction of the section bar, and the length range of section bar cutting is enlarged;
The cutting platforms are two groups and are respectively positioned at two sides of the robot travelling mechanism, each group of cutting platform is provided with an end positioning cylinder, a side cylinder at the 3 positions of the middle part and an upper corner cylinder at the 3 positions of the middle part, and each cylinder is used for positioning and clamping the section bar;
The manual control box is provided with a clamping control button, an emergency stop button and a circulation start button; the clamping control button is connected with a pneumatic control valve component of the cylinder of the cutting platform through a cable and used as a switch of the pneumatic control valve, and after the pneumatic control valve is started, the clamping and loosening of the end positioning cylinder, the side cylinder at the middle part 3 and the corner cylinder at the upper part 3 of the cutting platform are controlled; the emergency stop button is communicated with the emergency stop button on the robot demonstrator through a cable, and the emergency in the cutting process is controlled; the circulating start button is communicated with a circulating start function on the robot demonstrator through a cable, and a circulating cutting function is realized after the circulating start button is started.
The manual control box is provided with a clamping control button, an emergency stop button and a circulation start button; the clamping control button controls the clamping and loosening of an end positioning cylinder, a side cylinder at the middle part 3 and a corner cylinder at the upper part 3 of the cutting platform; the emergency stop button controls the emergency in the cutting process; the circulation start button is used for starting the circulation cutting function.
Furthermore, the robot demonstrator is a model product of a robot body and adopts a WINDOWS CE system; a shortcut menu and instructions are arranged in the interior, wherein the instructions comprise a start straight line, a midpoint straight line, an end straight line, a start arc, a midpoint arc, an end arc and an empty straight line; each axis action key of the 6-axis multi-joint cutting robot is arranged on the robot demonstrator and used for adjusting the posture of the robot body to achieve the optimal cutting posture; inputting a starting straight line, a midpoint straight line and an ending straight line can simulate the paths of all straight lines on the profile and record all instructions into the robot demonstrator, inputting a starting arc, a midpoint arc and an ending arc can simulate the paths of all arc-shaped contour lines on the profile and record all instructions into the robot demonstrator, and finally generating a cutting program.
The invention has the beneficial effects that: the novel breakthrough of the existing profile cutting device is realized by adopting a mode of combining the cutting robot with the double cutting platforms, and the novel profile cutting device has the characteristics of high efficiency, low cost, high quality and low labor intensity.
Description of the drawings:
Fig. 1 is a schematic structural view of the present invention.
In the figure: the robot comprises a robot body 1, a cutting system 2, a robot travelling mechanism 3, a cutting platform 4, a manual control box 5, a cutting power supply 6, a cutting torch 7, a clamping control button 8, a scram button 9, a cycle starting button 10, a robot demonstrator 11, a positioning cylinder 12 end part, a side cylinder 13 and an upper corner cylinder 14.
The specific embodiment is as follows:
the invention is further described in detail below with reference to the attached drawings and specific examples:
As shown in fig. 1, a section bar cutting device comprises a robot body 1, a cutting system 2, a robot travelling mechanism 3, a cutting platform 4 and a manual control box 5;
The robot body 1 is a 6-axis multi-joint cutting robot, and is connected with the robot demonstrator 11 through a data cable, the robot demonstrator 11 is a matched product of the robot body 1, and a common WINDOWS CE system in the market is adopted; a shortcut menu and instructions are arranged in the robot demonstrator 11, wherein the instructions comprise a start straight line, a midpoint straight line, an end straight line, a start circular arc, a midpoint circular arc, an end circular arc and an empty straight line; each axis action key of the 6-axis multi-joint cutting robot is arranged on the manual operation robot demonstrator 11 and is used for adjusting the gesture of the robot body 1 to achieve the optimal cutting gesture, inputting a start straight line, a midpoint straight line and an end straight line, carrying out path simulation on all straight line contour lines on the section bar and recording each instruction into the robot demonstrator 11, inputting a start arc, a midpoint arc and an end arc, carrying out path simulation on all arc contour lines on the section bar, recording each instruction into the robot demonstrator 11, and finally generating a cutting program; the robot demonstrator 11 is provided with an emergency stop button for controlling the emergency in the cutting process; the robot demonstrator 11 is internally provided with a main program with a circulation starting function, the generated cutting program is brought into the main program, and the programs on two sides are circularly called to realize a circulation cutting function;
the cutting system 2 comprises a cutting power supply 6 and a cutting torch 7 which are connected through a cable; the cutting torch 7 is fixed at the tail end of the 6 th shaft of the robot body 1 and is used for cutting various profiles of the section bar;
The robot walking mechanism 3 comprises a fixed seat board platform, a gear mechanism is arranged at the bottom of the fixed seat board platform, a rack mechanism is arranged in the length direction, and gear and rack transmission is adopted; the robot body 1 and the cutting power supply 6 are fixedly arranged on a fixed seat board platform of the robot travelling mechanism 3, the robot travelling mechanism 3 serves as a 7 th shaft which is added, the robot body 1 moves along the length direction of the section bar, and the length range of section bar cutting is enlarged;
the cutting platforms 4 are two groups, are respectively positioned at two sides of the robot travelling mechanism 3, each group of cutting platforms 4 is provided with an end positioning cylinder 12, a side cylinder 13 at the middle part 3 and an upper corner cylinder 14 at the 3 part, and each cylinder is used for positioning and clamping the section bar;
the manual control box 5 is provided with a clamping control button 8, an emergency stop button 9 and a circulation start button 10; the clamping control button 8 is connected with pneumatic control valve components of the air cylinder of the cutting platform 4 through a cable and is used as a switch of the pneumatic control valve, and after the pneumatic control valve is started, the clamping and loosening of the end positioning air cylinder 12, the side air cylinder 13 at the middle part 3 and the corner air cylinder 14 at the upper part 3 of the cutting platform 4 are controlled; the emergency stop button 9 is communicated with an emergency stop button on the robot demonstrator 11 through a cable to control the emergency in the cutting process; the circulation start button 10 is communicated with a circulation start function on the robot demonstrator 11 through a cable, and after the circulation start button is started, a circulation cutting function is realized, so that after the section bar on one side is cut, the section bar on the other side can be automatically rotated to the other side by the robot without entering a cutting area again, and the section bar on the other side is cut, so that the circulation reciprocation is performed.
When the automatic cutting machine works, a profile with proper length is selected according to a product drawing, a profile blank is manually hung on a cutting platform 4 at one side, then a clamping control button 8 is pressed, a profile is pushed by a side cylinder 13, the profile is abutted against a platform positioning surface, the upper plane of the profile is clamped by an upper corner cylinder 14, and the end position of the profile fed each time is ensured to be unchanged by an end positioning cylinder 12 to serve as a cutting starting point; the other side is clamped by feeding in the same way; each axis action key on the robot demonstrator 11 adjusts the posture of the robot body 1 to achieve the optimal cutting posture, inputs a start straight line command as a starting point of a cutting contour line and records, then adjusts the posture of the robot body 1, inputs other commands and records until all contour lines of all shapes are completely simulated, and generates a cutting program; after the first section bar cutting program is programmed, the section bar cutting program of the second section bar on the other side is programmed according to the same method; after programming on both sides is completed, the two generated cutting programs are brought into a main program of the robot demonstrator 11, the cutting mode is switched to, the robot demonstrator 11 is placed at a designated position, and the robot demonstrator is manually withdrawn from the cutting area; pressing the circulation start button 10, the robot automatically aligns the starting point of cutting, cuts according to the procedure, and after the first section bar is cut, the robot can automatically rotate to the opposite side to cut the second section bar, simultaneously, the clamping button 8 is manually controlled, all clamping cylinders are loosened, the cut section bar finished product is lifted away from the cutting platform 4, and simultaneously, the third section bar is loaded and clamped, so that the circulation is performed.
The foregoing is only a partial, but not all, embodiments of the invention. It should be noted that the above-mentioned embodiments should not be construed as limiting the invention, and that the scope of the invention shall be defined by the appended claims; all other embodiments, which can be made by those skilled in the art without the inventive effort, are intended to be within the scope of the present invention.
Claims (1)
1. The profile cutting device is characterized by comprising a robot body (1), a cutting system (2), a robot travelling mechanism (3), a cutting platform (4) and a manual control box (5);
The robot body (1) is a 6-axis multi-joint cutting robot and is connected with the robot demonstrator (11) through a data cable; an emergency stop button is arranged on the robot demonstrator (11) to control the emergency in the cutting process; the robot demonstrator (11) is internally provided with a main program with a circulation starting function, the generated cutting program is brought into the main program, and the programs on two sides are circularly called to realize a circulation cutting function;
the cutting system (2) comprises a cutting power supply (6) and a cutting torch (7), which are connected through a cable; the cutting torch (7) is fixed at the tail end of the 6 th shaft of the robot body (1);
The robot walking mechanism (3) comprises a fixed seat board platform, a gear mechanism is arranged at the bottom of the fixed seat board platform, a rack mechanism is arranged in the length direction, and gear-rack transmission is adopted; a robot body (1) and a cutting power supply (6) are arranged on a fixed seat board platform of the robot travelling mechanism (3), the robot body (1) moves along the length direction of the section bar, and the length range of section bar cutting is enlarged;
the cutting platforms (4) are two groups, are respectively positioned at two sides of the robot travelling mechanism (3), each group of cutting platforms (4) is provided with an end positioning cylinder (12), a side cylinder (13) at the middle part 3 and a corner cylinder (14) at the upper part 3, and each cylinder is used for positioning and clamping the section bar;
The manual control box (5) is provided with a clamping control button (8), an emergency stop button (9) and a circulation start button (10); the clamping control button (8) is connected with a pneumatic control valve component of the cylinder of the cutting platform (4) through a cable and is used as a switch of the pneumatic control valve to control the clamping and loosening of an end positioning cylinder (12), a side cylinder (13) at the middle part 3 and a corner cylinder (14) at the upper part 3 of the cutting platform (4) after starting; the emergency stop button (9) is communicated with an emergency stop button on the robot demonstrator (11) through a cable, and controls the emergency in the cutting process; the circulating start button (10) is communicated with a circulating start function on the robot demonstrator (11) through a cable, and a circulating cutting function is realized after the circulating start button is started;
The robot demonstrator (11) is a matched product of the robot body (1) and adopts a WINDOWS CE system; a shortcut menu and instructions are arranged in the interior, wherein the instructions comprise a start straight line, a midpoint straight line, an end straight line, a start arc, a midpoint arc, an end arc and an empty straight line; each axis action key of the 6-axis multi-joint cutting robot is arranged on the robot demonstrator (11) and used for adjusting the posture of the robot body (1) to achieve the optimal cutting posture; inputting a starting straight line, a midpoint straight line and an ending straight line can simulate the paths of all straight lines on the profile and record all instructions into the robot demonstrator (11), inputting a starting arc, a midpoint arc and an ending arc can simulate the paths of all arc-shaped contour lines on the profile and record all instructions into the robot demonstrator (11), and finally generating a cutting program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911240103.4A CN110774297B (en) | 2019-12-06 | 2019-12-06 | Profile cutting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911240103.4A CN110774297B (en) | 2019-12-06 | 2019-12-06 | Profile cutting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110774297A CN110774297A (en) | 2020-02-11 |
| CN110774297B true CN110774297B (en) | 2024-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911240103.4A Active CN110774297B (en) | 2019-12-06 | 2019-12-06 | Profile cutting device |
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| Country | Link |
|---|---|
| CN (1) | CN110774297B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110774297B (en) * | 2019-12-06 | 2024-06-04 | 山东蓬翔汽车有限公司 | Profile cutting device |
| CN115090998A (en) * | 2022-08-04 | 2022-09-23 | 青海柴达木职业技术学院 | Automatic multifunctional cutting machine |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201618924U (en) * | 2009-12-03 | 2010-11-03 | 上海莱克气割机有限公司 | Mechanism for moving cutting robot |
| CN104384690A (en) * | 2014-10-10 | 2015-03-04 | 沪东中华造船(集团)有限公司 | Length fixing method for profile cutting |
| CN106271780A (en) * | 2016-10-19 | 2017-01-04 | 中核（天津）机械有限公司 | Slender piece is installed positioner |
| CN108435369A (en) * | 2018-04-20 | 2018-08-24 | 龚大娇 | A kind of aluminium foil paper pack Intelligent Machining robot |
| CN109676224A (en) * | 2019-01-31 | 2019-04-26 | 海安交睿机器人科技有限公司 | A kind of profile plasma cut special line |
| CN110774297A (en) * | 2019-12-06 | 2020-02-11 | 山东蓬翔汽车有限公司 | Section bar cutting device |
-
2019
- 2019-12-06 CN CN201911240103.4A patent/CN110774297B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201618924U (en) * | 2009-12-03 | 2010-11-03 | 上海莱克气割机有限公司 | Mechanism for moving cutting robot |
| CN104384690A (en) * | 2014-10-10 | 2015-03-04 | 沪东中华造船(集团)有限公司 | Length fixing method for profile cutting |
| CN106271780A (en) * | 2016-10-19 | 2017-01-04 | 中核（天津）机械有限公司 | Slender piece is installed positioner |
| CN108435369A (en) * | 2018-04-20 | 2018-08-24 | 龚大娇 | A kind of aluminium foil paper pack Intelligent Machining robot |
| CN109676224A (en) * | 2019-01-31 | 2019-04-26 | 海安交睿机器人科技有限公司 | A kind of profile plasma cut special line |
| CN110774297A (en) * | 2019-12-06 | 2020-02-11 | 山东蓬翔汽车有限公司 | Section bar cutting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110774297A (en) | 2020-02-11 |
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