TWI847284B

TWI847284B - Tube cutting method

Info

Publication number: TWI847284B
Application number: TW111136426A
Authority: TW
Inventors: 莊添財
Original assignee: 旭東機械工業股份有限公司
Filing date: 2019-12-31
Publication date: 2024-07-01

Abstract

The present invention discloses a tube cutting method, performed by a robotic arm laser tube processing machine. The robotic arm laser tube processing machine includes a multi-axis robotic arm, a laser cutting head disposed on one end of the multi-axis robotic arm, a multi-axis turntable device located across from the multi-axis robotic arm, and a movable carrier disposed on the multi-axis turntable device. The method includes securing a tube to the movable carrier, and then using the laser cutting head to perform a series of half cuts along the length of the tube, creating multiple first half cut traces on the tube.

Description

管件切割方法 Pipe cutting method

本發明與雷射切割技術有關，尤指一種利用一機械手臂式雷射切割機來進行的管件切割方法。 The present invention relates to laser cutting technology, and in particular to a method for cutting pipes using a robotic laser cutting machine.

現有的機械手臂式雷射切割機主要包括一多軸機械手臂及裝設在該多軸機械手臂上的一雷射頭，藉由多軸機械手臂能多維度轉動及移動的特點，使得該雷射頭能進行想要的切割路徑，達成想要切割結果。例如，台灣I520808專利揭露一種3D切割處理裝置，它的多軸機械手臂係具有六軸的運動方向，它的轉盤位於該多軸機械手臂的對面且具有旋轉的第七軸運動方向，如此，設置在該多軸機械手臂一端的一雷射切割頭就能按照預設一雷射切割路徑對一異形管件進行雷射切割。 The existing robotic arm laser cutting machine mainly includes a multi-axis robotic arm and a laser head mounted on the multi-axis robotic arm. The multi-axis robotic arm can rotate and move in multiple dimensions, so that the laser head can perform the desired cutting path and achieve the desired cutting result. For example, Taiwan Patent I520808 discloses a 3D cutting processing device, whose multi-axis robotic arm has six-axis movement directions, and its turntable is located opposite to the multi-axis robotic arm and has a seventh-axis rotational movement direction. In this way, a laser cutting head set at one end of the multi-axis robotic arm can perform laser cutting on a special-shaped pipe according to a preset laser cutting path.

然而，如果管件本身的形狀複雜且想要切割出來的端面形狀也複雜的話，這種具備七軸運動方向的習知3D切割處理裝置就可能無法應付。此外，管件如何切割，也是業界長期研究的課題。 However, if the shape of the pipe itself is complex and the end face shape to be cut is also complex, this kind of 3D cutting processing device with seven-axis motion direction may not be able to cope with it. In addition, how to cut pipes is also a long-term research topic in the industry.

本發明提供一種管件切割方法，其係利用一機械手臂式管件雷射加工機來進行，該機械手臂式管件雷射加工機包括：一多軸機械手臂；一雷射切割頭，設於該多軸機械手臂的一端；多軸轉盤裝置，位於該多軸機械手臂的對面；一活動載台，設於該多軸轉盤裝置上；及一電腦控制裝置。該活動載台用於放置一管件。該雷射切割頭用於對該管件進行雷射切割。該多軸機械手臂控制該雷射切割頭的移動路徑，多軸轉盤裝置驅動該活動載台進行至少兩方向的轉動。該電腦控制裝置能根據預設的切割路徑控制該多軸機械手臂、該雷射切割頭、該多軸轉盤裝置及該活動載台的動作。 The present invention provides a pipe cutting method, which is performed by using a robot-type pipe laser processing machine, the robot-type pipe laser processing machine comprising: a multi-axis robot; a laser cutting head, arranged at one end of the multi-axis robot; a multi-axis turntable device, located opposite to the multi-axis robot; a movable platform, arranged on the multi-axis turntable device; and a computer control device. The movable platform is used to place a pipe. The laser cutting head is used to perform laser cutting on the pipe. The multi-axis robot controls the moving path of the laser cutting head, and the multi-axis turntable device drives the movable platform to rotate in at least two directions. The computer control device can control the movements of the multi-axis robot arm, the laser cutting head, the multi-axis turntable device and the movable platform according to the preset cutting path.

在一實施例中，該多軸轉盤裝置包括一基台、設於該基台的一台面且能相對於該台面轉動的一臂、設於該臂的一承載面且能相對於該承載面轉動的一轉盤、一第一驅動裝置及一第二驅動裝置。該臂為一L形臂且該臂的一端設於該基台的該台面，並能以該台面的一中央軸線為軸而相對於該基台轉動，該中央軸線為一水平軸線，該臂另一端上的一承載面平行於該水平軸線且距離該水平軸線一段距離，該第一驅動裝置用於驅動該臂轉動，以使該臂另一端上的該承載面繞著該水平軸線轉動，該轉盤位於該臂另一端上的該承載面，且能隨著該臂的該承載面的轉動而繞著該水平軸線轉動，該轉盤還以該承載面的一中央軸線為軸地轉動，該承載面的該中央軸線為一垂直軸線，該第二驅動裝置用於驅動該轉盤轉動，其中該臂的該端垂直延伸出來的部份的長度短於該臂從該另一端水平延伸出來的部份的長度。在一實施例中，該活動載台固設於該多軸轉盤裝置的該轉盤上，且位於該轉盤與該水平軸線之間，其中，該活動載台包括固設於該轉盤上的一底座、設於該底座上且分隔一段距離的兩支撐座、分別設於兩該支撐座上且分別用於放置一管件的一端的兩轉動座、分別用於固定該管件的兩端的兩固定裝置、及用於驅動其中一轉動座轉動的一轉動驅動裝置。該管件切割方法包括：將一管件的兩端分別固定於兩該轉動座上；利用該該雷射切割頭沿著該管件的長度方向對該管件進行一批多次的半切割，且該雷射切割頭每進行一次半切割，該第一驅動裝置就驅動該臂以該台面的該中央軸線為軸地轉動；其中，當該雷射切割頭開始進行該批半切割的第一次半切割時，該第一驅動裝置驅動該臂逆時針轉動180度；接著，該雷射切割頭沿著該管件的長度方向向前移動一段距離，之後，再進行該批半切割第二次半切割，此時，該第一驅動裝置驅動該臂順時針轉動180度；然後，該雷射切割頭再沿著該管件的長度方向繼續向前移動一段距離，再進行該批半切割的第三次半切割，此時，該第一驅動裝置驅動該臂逆時針轉動180度，以此類推而完成對該管件的該批半切割的N次半切割，藉以在該管件上形成N道第一半切割痕跡。 In one embodiment, the multi-axis turntable device includes a base, an arm disposed on a table surface of the base and capable of rotating relative to the table surface, a turntable disposed on a bearing surface of the arm and capable of rotating relative to the bearing surface, a first driving device, and a second driving device. The arm is an L-shaped arm and one end of the arm is disposed on the table surface of the base, and can rotate relative to the base with a central axis of the table surface as an axis, the central axis being a horizontal axis, a bearing surface on the other end of the arm being parallel to the horizontal axis and being at a distance from the horizontal axis, the first driving device being used to drive the arm to rotate so that the bearing surface on the other end of the arm rotates around the horizontal axis, and the turntable is positioned at a first position. The turntable is mounted on the bearing surface at the other end of the arm and can rotate around the horizontal axis as the bearing surface of the arm rotates. The turntable also rotates around a central axis of the bearing surface, and the central axis of the bearing surface is a vertical axis. The second driving device is used to drive the turntable to rotate, wherein the length of the portion extending vertically from the end of the arm is shorter than the length of the portion extending horizontally from the other end of the arm. In one embodiment, the movable platform is fixed on the turntable of the multi-axis turntable device and is located between the turntable and the horizontal axis, wherein the movable platform includes a base fixed on the turntable, two supporting seats arranged on the base and separated by a distance, two rotating seats respectively arranged on the two supporting seats and used to place one end of a pipe, two fixing devices respectively used to fix the two ends of the pipe, and a rotating driving device used to drive one of the rotating seats to rotate. The pipe cutting method comprises: fixing two ends of a pipe respectively on two rotating seats; using the laser cutting head to perform a batch of multiple half-cuts on the pipe along the length direction of the pipe, and each time the laser cutting head performs a half-cut, the first driving device drives the arm to rotate about the central axis of the table; wherein, when the laser cutting head starts to perform the first half-cut of the batch of half-cuts, the first driving device drives the arm to rotate 180 degrees counterclockwise; then, the laser cutting head performs a half-cut along the length direction of the pipe. The first drive device drives the arm to rotate 180 degrees clockwise. Then, the laser cutting head continues to move forward along the length direction of the pipe for a distance, and then performs the third half-cut of the batch of half-cuts. At this time, the first drive device drives the arm to rotate 180 degrees counterclockwise. By analogy, the N half-cuts of the batch of half-cuts of the pipe are completed, so as to form N first half-cut marks on the pipe.

1:多軸機械手臂 1: Multi-axis robotic arm

100:地面 100: Ground

2:雷射切割頭 2: Laser cutting head

3:多軸轉盤裝置 3: Multi-axis turntable device

31:基台 31: Base

311:台面 311: Countertop

312:中央軸線 312: Central axis

32:臂 32: Arm

321:承載面 321: Loading surface

322:中央軸線 322: Central axis

33:轉盤 33: Turntable

4、4a:活動載台 4.4a: Movable platform

41、41a:底座 41, 41a: Base

411、412:側邊 411, 412: Side

42:滑軌 42: Slide rail

42a:轉動座 42a: Rotating seat

43:移動台 43: Mobile platform

43a:轉動驅動裝置 43a: Rotating drive device

44:固定裝置 44:Fixed device

44a:支撐座 44a: Support seat

8:管件 8: Pipe fittings

81、82:端 81, 82: End

83:彈性帶 83: Elastic band

84:中央軸線 84: Central axis

85:第一半切割痕跡 85: The first half of the cutting trace

851:起點 851: Starting point

852:終點 852: Ending point

86:第二半切割痕跡 86: The second half of the cutting mark

861:起點 861: Starting point

862:終點 862: Ending point

87:切割痕跡 87: Cutting marks

871:未切斷部分 871: Uncut part

9:管件 9: Pipe fittings

90:中央長軸 90: Central long axis

91:前段 91: First part

92:後段 92: The latter part

圖1顯示本發明之機械手臂式雷射切管機的一個較佳實施例的平面示意圖。 Figure 1 shows a schematic plan view of a preferred embodiment of the robotic arm laser pipe cutting machine of the present invention.

圖2顯示本發明該較佳實施例的活動載台4的立體圖。 Figure 2 shows a three-dimensional view of the movable carrier 4 of the preferred embodiment of the present invention.

圖3顯示該活動載台4上的移動台43承載管件9並從一位置點移動到另一位置點。 FIG3 shows that the moving platform 43 on the movable carrier 4 carries the pipe 9 and moves from one position to another.

圖4-9顯示本發明該較佳實施例的雷射切割頭2對活動載台4上的管件9進行切割的動作示意圖。 Figure 4-9 shows a schematic diagram of the laser cutting head 2 of the preferred embodiment of the present invention cutting the tube 9 on the movable carrier 4.

圖10顯示本發明該較佳實施例所使用的另一種活動載台4a的立體圖。 Figure 10 shows a three-dimensional view of another movable carrier 4a used in the preferred embodiment of the present invention.

圖11顯示該活動載台4a上的兩轉動座42a承載另一種管件8並逆時針轉動180度。 Figure 11 shows that the two rotating seats 42a on the movable carrier 4a carry another type of pipe 8 and rotate 180 degrees counterclockwise.

圖12-13及圖15顯示本發明該較佳實施例的雷射切割頭2對另一種活動載台4a上的另一種管件8進行切割的動作示意圖。 Figures 12-13 and 15 show schematic diagrams of the laser cutting head 2 of the preferred embodiment of the present invention cutting another type of pipe 8 on another type of movable carrier 4a.

圖14及16係示意性地顯示本發明該另一種管件8在進行一批多次半切割之後所形成的切割痕跡85。圖17係示意性地顯示本發明該另一種管件8在進行另一批多次半切割之後所形成的切割痕跡86。 Figures 14 and 16 schematically show the cutting marks 85 formed by the other type of pipe fitting 8 of the present invention after a batch of multiple half-cuts. Figure 17 schematically shows the cutting marks 86 formed by the other type of pipe fitting 8 of the present invention after another batch of multiple half-cuts.

圖18顯示從該另一種管件8切割出來的管件成品88的立體圖。 FIG. 18 shows a three-dimensional view of a finished pipe 88 cut from the other pipe 8.

圖1顯示本發明之機械手臂式雷射切管機的一個較佳實施例，其包括一多軸機械手臂1、設於多軸機械手臂1一端的雷射切割頭2、位於於該多軸機械手臂1對面的一多軸轉盤裝置3、設於多軸轉盤裝置3上的一活動載台4及一電腦控制裝置(圖中未示)。在此實施例中，多軸機械手臂1為六軸機械手臂，此可選用屬現有的六軸機械手臂，容不贅述。多軸轉盤裝置3為二軸轉盤裝置。故該機械手臂式雷射切管機一共有八個可轉動的軸，圖中箭號表示這八個軸的轉動方向。其中，多軸轉盤裝置3包括一基台31、設於基台31的一台面311且能相對於台面311轉動的一臂32、及設於臂32的一承載面321且能相對於承載面321轉動的一轉盤33。其中臂32是一L形臂，台面311係面向多軸機械手臂1，且垂直於一地面100，承載面321則平行於地面100，因此，臂32是以台面311的一中央軸線312為軸地轉動，此中央軸312為一水平軸線，而轉盤33則是以承載面321的一中央軸線322為軸地轉動，此中央軸線322為一垂直軸線。此外，還有用於驅動臂32轉動的一第一驅動裝置(圖中未示)，及用於驅動轉盤33轉動的一第二驅動裝置(圖中未示)。第一、二驅動裝置可選用包括一馬達的驅動裝置，該馬達可選用伺服馬達。 FIG1 shows a preferred embodiment of the robot-type laser tube cutting machine of the present invention, which includes a multi-axis robot 1, a laser cutting head 2 disposed at one end of the multi-axis robot 1, a multi-axis turntable device 3 located opposite the multi-axis robot 1, a movable platform 4 disposed on the multi-axis turntable device 3, and a computer control device (not shown in the figure). In this embodiment, the multi-axis robot 1 is a six-axis robot, which can be selected from existing six-axis robots and will not be described in detail. The multi-axis turntable device 3 is a two-axis turntable device. Therefore, the robot-type laser tube cutting machine has a total of eight rotatable axes, and the arrows in the figure indicate the rotation directions of the eight axes. The multi-axis turntable device 3 includes a base 31, an arm 32 disposed on a table 311 of the base 31 and capable of rotating relative to the table 311, and a turntable 33 disposed on a bearing surface 321 of the arm 32 and capable of rotating relative to the bearing surface 321. The arm 32 is an L-shaped arm, the table 311 faces the multi-axis robot arm 1 and is perpendicular to a ground 100, and the bearing surface 321 is parallel to the ground 100. Therefore, the arm 32 rotates around a central axis 312 of the table 311, which is a horizontal axis, and the turntable 33 rotates around a central axis 322 of the bearing surface 321, which is a vertical axis. In addition, there is a first driving device (not shown in the figure) for driving the arm 32 to rotate, and a second driving device (not shown in the figure) for driving the turntable 33 to rotate. The first and second driving devices can be selected to include a motor, and the motor can be a servo motor.

如圖2所示，活動載台4包括固設於轉盤33的一底座41、一滑軌42、能沿滑軌42移動的一移動台43、設於移動台43的一固定裝置44、及用於驅動移動台43移動的一移動驅動裝置(圖中未示)。該移動驅動裝置可選用包括一馬達的驅動裝置，該馬達可選用伺服馬達或線性馬達。其中，底座41具有兩相對側邊411及412，滑軌42的兩終端分別位於或靠近兩側邊411及412。移動台43可在滑軌42上相隔一段距離的兩個位置點之間往返移動，圖2及圖3顯示移動台43分別位於該兩位置點，在此實施例中，該兩位置點即移動台43的兩個移動終點。固定裝置44用於將一管件9固定於移動台43上，在此實施例中，固定裝置44係為可上、下擺動的一擺臂，它可***作而向上擺動到一張開位置，以方便將管件9放置於移動台43，一旦放好管件9，就可操作它向下擺動到一固定位置，此時，如圖2所示，固定裝置44的一端下壓於管件9的中間位置，使得管件9被固定於移動台43上。 As shown in FIG2 , the movable platform 4 includes a base 41 fixed to the turntable 33, a slide rail 42, a moving platform 43 that can move along the slide rail 42, a fixing device 44 disposed on the moving platform 43, and a moving drive device (not shown) for driving the moving platform 43 to move. The moving drive device can be a drive device including a motor, and the motor can be a servo motor or a linear motor. The base 41 has two opposite sides 411 and 412, and the two ends of the slide rail 42 are respectively located at or near the two sides 411 and 412. The moving platform 43 can move back and forth between two positions separated by a distance on the slide rail 42. FIG. 2 and FIG. 3 show that the moving platform 43 is located at the two positions respectively. In this embodiment, the two positions are the two moving end points of the moving platform 43. The fixing device 44 is used to fix a pipe 9 on the moving platform 43. In this embodiment, the fixing device 44 is a swing arm that can swing up and down. It can be operated to swing upward to an open position to facilitate placing the pipe 9 on the moving platform 43. Once the pipe 9 is placed, it can be operated to swing downward to a fixed position. At this time, as shown in FIG. 2, one end of the fixing device 44 is pressed down on the middle position of the pipe 9, so that the pipe 9 is fixed on the moving platform 43.

當多軸轉盤裝置3的臂32被驅動於轉動時，活動載台4就會隨著臂32的轉動而以管件9的一中央長軸90為軸地轉動，與此同時，管件9是以中央長軸90為軸地自轉。 When the arm 32 of the multi-axis turntable device 3 is driven to rotate, the movable platform 4 will rotate with the rotation of the arm 32 around a central long axis 90 of the tube 9. At the same time, the tube 9 rotates around the central long axis 90.

欲切斷一管件的兩端，例如切斷上述管件9的一前段91及一後段92，需將活動載台4的底座41鎖固轉盤33上。如圖1所示。一開始，如圖4及圖4A所示，活動載台4是朝下的，且管件9的前段91是凸出底座41的側邊411，以便讓多軸機械手臂1上的雷射切割頭2所發出一切割雷射光線將前段91切斷。在該切割雷射光線切割管件9的過程中，臂32被驅動於轉動，圖5及圖5A顯示臂32以中央軸線90為軸地逆時針轉動90度的情形。圖6顯示臂32一共逆時針轉動360度(或幾乎360度)，故管件9跟著以中央軸線90為軸地自轉了360度(或幾乎360度)，這使得該切割雷射光線沿著管件9的外壁繞了一圈(或幾乎一圈)，並因此將前段91予以切斷(或幾乎切斷，此時只要前段91稍受力就會斷離管件9)。 To cut the two ends of a pipe, for example, to cut a front section 91 and a rear section 92 of the pipe 9, the base 41 of the movable platform 4 needs to be locked on the turntable 33. As shown in Figure 1. At the beginning, as shown in Figures 4 and 4A, the movable platform 4 is facing downward, and the front section 91 of the pipe 9 protrudes from the side 411 of the base 41, so that the laser cutting head 2 on the multi-axis robot arm 1 can emit a cutting laser beam to cut the front section 91. During the process of cutting the pipe 9 with the cutting laser beam, the arm 32 is driven to rotate. Figures 5 and 5A show that the arm 32 rotates 90 degrees counterclockwise around the central axis 90. FIG6 shows that the arm 32 rotates 360 degrees (or almost 360 degrees) counterclockwise, so the pipe 9 rotates 360 degrees (or almost 360 degrees) about the central axis 90, which makes the cutting laser light circle around the outer wall of the pipe 9 (or almost a circle), and thus cuts off the front section 91 (or almost cuts off, at this time, the front section 91 will be separated from the pipe 9 as long as a slight force is applied).

接著，移動台43移動到另一邊，如圖7及圖7A所示，以使管件9的後段92凸出底座41的側邊412，然後，如圖8所示，該電腦控制裝置令轉盤33轉動180度(例如逆時針轉動180度)，以使活動載台4跟著轉動180度，活動載台4上的管件9就跟著轉動180度，使得管件9的後段92因前述轉動而來到前段91原先所在的位置，此時，雷射切割頭2就可像切割前段91那樣，再將後段92切斷，一如圖9所示，不過此時臂32是被驅動於順時針轉動。如此即完成管件9的前、後段91及92的切斷作業。 Next, the moving platform 43 moves to the other side, as shown in FIG. 7 and FIG. 7A, so that the rear section 92 of the pipe 9 protrudes from the side 412 of the base 41. Then, as shown in FIG. 8, the computer control device causes the turntable 33 to rotate 180 degrees (for example, 180 degrees counterclockwise), so that the movable platform 4 rotates 180 degrees accordingly, and the pipe 9 on the movable platform 4 rotates 180 degrees accordingly, so that the rear section 92 of the pipe 9 comes to the original position of the front section 91 due to the aforementioned rotation. At this time, the laser cutting head 2 can cut the rear section 92 like cutting the front section 91, as shown in FIG. 9, but at this time the arm 32 is driven to rotate clockwise. In this way, the cutting operation of the front and rear sections 91 and 92 of the pipe 9 is completed.

在上述切割過程中，多軸機械手臂1會根據預設的切割路徑移動調整雷射切割頭2的位置，使得切斷前、後段91及92之後的管件9兩端的端口形狀符合想要的形狀，例如圖中所示的管件9兩端的端口分別是一斜切端口。 In the above-mentioned cutting process, the multi-axis robot arm 1 will move and adjust the position of the laser cutting head 2 according to the preset cutting path, so that the port shapes at both ends of the pipe 9 after cutting the front and rear sections 91 and 92 meet the desired shapes. For example, the ports at both ends of the pipe 9 shown in the figure are respectively beveled ports.

圖10顯示另一種活動載台4a，其包括固設於轉盤33上的一底座41a、設於底座41a上的兩轉動座42a、及驅動其中一轉動座42a轉動的一轉動驅動裝置43a。較佳還包括設於該底座上且分隔一段距離的兩支撐座44a，兩轉動座42a分別設於兩支撐座44a上。轉動驅動裝置43a可選用包括一馬達的驅動裝置，該馬達可選用伺服馬達。兩轉動座42a能承載一管件8的兩端81及82。在此實施例中，可使用兩彈性帶83分別將管件8的兩端81及82綁緊於兩轉動座42a上，但不以此為限，也可使用其它的固定裝置(例如上述的固定裝置44)來固定管件8的兩端81及82。在此實施例中，轉動驅動裝置43a可驅動轉動座42a作正、反向轉動，圖11顯示轉動驅動裝置43a驅動轉動座42a及其上的管件8逆時針轉動180度，此時，只要轉動驅動裝置43a再驅動轉動座42a順時針轉動180度，轉動座42a及其上的管件8就會回到圖10所示的狀態。 FIG. 10 shows another movable carrier 4a, which includes a base 41a fixed on the turntable 33, two rotating seats 42a arranged on the base 41a, and a rotating drive device 43a driving one of the rotating seats 42a to rotate. Preferably, it also includes two supporting seats 44a arranged on the base and separated by a distance, and the two rotating seats 42a are respectively arranged on the two supporting seats 44a. The rotating drive device 43a can be a drive device including a motor, and the motor can be a servo motor. The two rotating seats 42a can carry the two ends 81 and 82 of a pipe 8. In this embodiment, two elastic bands 83 can be used to respectively fasten the two ends 81 and 82 of the pipe 8 to the two rotating seats 42a, but this is not limited to this. Other fixing devices (such as the fixing device 44 mentioned above) can also be used to fix the two ends 81 and 82 of the pipe 8. In this embodiment, the rotating drive device 43a can drive the rotating seat 42a to rotate forward and reverse. Figure 11 shows that the rotating drive device 43a drives the rotating seat 42a and the pipe 8 thereon to rotate 180 degrees counterclockwise. At this time, as long as the rotating drive device 43a drives the rotating seat 42a to rotate 180 degrees clockwise, the rotating seat 42a and the pipe 8 thereon will return to the state shown in Figure 10.

欲將一管件切割成數段，例如將上述管件8切割成數段，需將活動載台4a的底座41a鎖固於轉盤33上。一開始，如圖12及圖12A所示，接著，雷射切割頭2對管件8進行多次半切割，每進行一次半切割，臂32就需要以管件8的一中央軸線84為軸地轉動180度，使得管件8以中央軸線84為軸地跟著自轉180度。當雷射切割頭2從管件8的一端81開始進行第一次半切割時，臂32需逆時針轉動180度，如圖13所示，使得管件8跟著以中央軸線84為軸地逆時針自轉180度。接著，雷射切割頭2沿著管件8長度方向往管件8另一端82向前移動一段距離之後，再進行第二次半切割，此時臂32需順時針轉動180度而回到圖12所示的狀態，使得管件8跟著以中央軸線84為軸地順時針自轉180度。然後，雷射切割頭2再沿著管件8長度方向向前繼續移動一段距離之後，再進行第三次半切割，此時臂32需逆時針轉動180度而變成圖13所示的狀態……，以此類推，完成對管件8的多次半切割，如圖14，管件8上已因雷射切割頭2進行N次的前述半切割而對應出現N道第一半切割痕跡85，每一第一半切割痕跡85各有一起點851與一終點852。 To cut a pipe into several sections, for example, to cut the pipe 8 into several sections, the base 41a of the movable stage 4a needs to be locked on the turntable 33. At the beginning, as shown in FIG. 12 and FIG. 12A, the laser cutting head 2 then performs multiple half cuts on the pipe 8. Each time a half cut is performed, the arm 32 needs to rotate 180 degrees around a central axis 84 of the pipe 8, so that the pipe 8 rotates 180 degrees around the central axis 84. When the laser cutting head 2 performs the first half cut from one end 81 of the pipe 8, the arm 32 needs to rotate 180 degrees counterclockwise, as shown in FIG. 13, so that the pipe 8 rotates 180 degrees counterclockwise around the central axis 84. Next, the laser cutting head 2 moves forward a distance along the length direction of the tube 8 toward the other end 82 of the tube 8, and then performs a second half cut. At this time, the arm 32 needs to rotate 180 degrees clockwise and return to the state shown in Figure 12, so that the tube 8 rotates 180 degrees clockwise around the central axis 84. Then, the laser cutting head 2 continues to move forward along the length direction of the pipe 8 for a distance, and then performs the third half-cut. At this time, the arm 32 needs to rotate 180 degrees counterclockwise to become the state shown in Figure 13... and so on, completing multiple half-cuts of the pipe 8. As shown in Figure 14, the pipe 8 has N first half-cut marks 85 corresponding to the N times of the aforementioned half-cuts performed by the laser cutting head 2. Each first half-cut mark 85 has a starting point 851 and an end point 852.

接著，轉動驅動裝置43a驅動轉動座42a逆時針轉動180度，使得管件8跟著逆時針轉動180度，如圖15及圖15A所示，此時管件8對雷射切割頭2露出待切割的另一面，該另一面顯示於圖16，圖中虛線顯示先前完成切割的半切割痕跡85，它們大致是位在該另一面的背面。 Next, the rotary drive device 43a drives the rotary seat 42a to rotate 180 degrees counterclockwise, so that the pipe 8 rotates 180 degrees counterclockwise, as shown in Figures 15 and 15A. At this time, the pipe 8 exposes the other side to be cut to the laser cutting head 2. The other side is shown in Figure 16. The dotted line in the figure shows the half-cut marks 85 of the previous cutting, which are roughly located on the back of the other side.

然後雷射切割頭2從管件8的另一端82開始進行多次半切割，進行的方式相同於前段所述，但此時是雷射切割頭2每次沿著管件8移動是改成向後移動，亦即，每向後移動一段預設距離之後再進行下次的半切割。 Then the laser cutting head 2 starts to perform multiple half cuts from the other end 82 of the pipe 8 in the same manner as described in the previous paragraph, but this time the laser cutting head 2 moves backwards along the pipe 8 each time, that is, the next half cut is performed after each backward movement of a preset distance.

上述每一次半切割是根據預設於該電腦控制置中的對應半切割路徑而進行的。每一半切割路徑都是根據需求而決定的，使得雷射切割頭2能根據預設的半切割路徑進行雷射切割，臂32及轉盤33也能根據預設的半切割路徑配合轉動。 Each of the above half-cutting is performed according to the corresponding half-cutting path preset in the computer control center. Each half-cutting path is determined according to the needs, so that the laser cutting head 2 can perform laser cutting according to the preset half-cutting path, and the arm 32 and the turntable 33 can also rotate in coordination with the preset half-cutting path.

當如前述地完成對管件8另一批的多次半切割之後，如圖17所示，管件8上已因雷射切割頭2進行另一批N次的前述半切割而對應出現N道第二半切割痕跡86，每一第二半切割痕跡86各有一起點861及一終點862，但起點861不一定會存在，因為起點861可以跟對應的第一半切割痕跡85的起點851重合或保持一小間距，若是重合，起點861就不存在。每一對第一半切割痕跡85與第二半切割痕跡86形成幾乎環繞管件8一圈的一切割痕跡87，每一切割痕跡87至少具有一個未切斷部分871，但每一切割痕跡87也可以如圖中所示，有上、下2個未切斷部分871，也就是說每一切割痕跡87中的第一半切割痕跡85的兩端與對應的第二半切割痕跡86的兩端是隔著兩個未切斷部分871而相對。未切斷部分871的寬度很小，例如大約是1mm、0.75mm、0.5mm或0.25mm，藉該些未切斷部分871讓管件8被切割後的各段88暫時保持相連，確保各段88在前述切割過程不致於斷成多截。 After completing another batch of multiple half-cuts of the tube 8 as described above, as shown in FIG. 17 , N second half-cut marks 86 have appeared on the tube 8 due to another batch of N half-cuts performed by the laser cutting head 2. Each second half-cut mark 86 has a starting point 861 and an end point 862, but the starting point 861 does not necessarily exist, because the starting point 861 can coincide with the starting point 851 of the corresponding first half-cut mark 85 or maintain a small distance. If they coincide, the starting point 861 does not exist. Each pair of first half cutting marks 85 and second half cutting marks 86 forms a cutting mark 87 that almost surrounds the pipe 8. Each cutting mark 87 has at least one uncut portion 871, but each cutting mark 87 can also have two upper and lower uncut portions 871 as shown in the figure, that is, the two ends of the first half cutting mark 85 in each cutting mark 87 and the two ends of the corresponding second half cutting mark 86 are opposite to each other with two uncut portions 871 between them. The width of the uncut portion 871 is very small, for example, about 1mm, 0.75mm, 0.5mm or 0.25mm. These uncut portions 871 allow the sections 88 of the pipe 8 to remain temporarily connected after being cut, ensuring that the sections 88 will not be broken into multiple pieces during the aforementioned cutting process.

完成上述切割之後，將管件8取出，只要稍微施力折，就能將管件8分解成數段，並從中取出幾個管件成品88，如圖18所示，其餘則屬廢料。每一管件成品88的兩端都具有想要的端口形狀。需指出，在上述切割過程中，多軸機械手臂1會根據預設的半切割路徑移動調整雷射切割頭2的位置，使得每一管件成品88的兩端的端口形狀符合預期。 After the above cutting is completed, the pipe 8 is taken out. With a little force, the pipe 8 can be decomposed into several sections, and several finished pipes 88 are taken out from them, as shown in Figure 18. The rest are waste. Both ends of each finished pipe 88 have the desired port shape. It should be pointed out that in the above cutting process, the multi-axis robot 1 will adjust the position of the laser cutting head 2 according to the preset half-cutting path movement, so that the port shapes at both ends of each finished pipe 88 meet the expectations.

1:多軸機械手臂 1: Multi-axis robotic arm

2:雷射切割頭 2: Laser cutting head

3:多軸轉盤裝置 3: Multi-axis turntable device

100:地面 100: Ground

31:基台 31: Base

311:台面 311: Countertop

312:中央軸線 312: Central axis

32:臂 32: Arm

321:承載面 321: Loading surface

322:中央軸線 322: Central axis

33:轉盤 33: Turntable

4:活動載台 4: Movable platform

41:底座 41: Base

42:滑軌 42: Slide rail

43:移動台 43: Mobile platform

Claims

一種管件切割方法，其係利用一機械手臂式管件雷射加工機來進行，該機械手臂式管件雷射加工機包括：一多軸轉盤裝置，包括一基台、一臂、一第一驅動裝置、一轉盤、及一第二驅動裝置，其中，該臂為一L形臂且該臂的一端設於該基台的一台面，並能以該台面的一中央軸線為軸而相對於該基台轉動，該中央軸線為一水平軸線，該臂另一端上的一承載面平行於該水平軸線且距離該水平軸線一段距離，該第一驅動裝置用於驅動該臂轉動，以使該臂另一端上的該承載面繞著該水平軸線轉動，該轉盤位於該臂另一端上的該承載面，且能隨著該臂的該承載面的轉動而繞著該水平軸線轉動，該轉盤還以該承載面的一中央軸線為軸地轉動，該承載面的該中央軸線為一垂直軸線，該第二驅動裝置用於驅動該轉盤轉動，其中該臂的該端垂直延伸出來的部份的長度短於該臂從該另一端水平延伸出來的部份的長度；一多軸機械手臂，位於該臂的另一端的對面；一活動載台，固設於該多軸轉盤裝置的該轉盤上，且位於該轉盤與該水平軸線之間，其中，該活動載台包括固設於該轉盤上的一底座、設於該底座上且分隔一段距離的兩支撐座、分別設於兩該支撐座上且分別用於放置一管件的一端的兩轉動座、分別用於固定該管件的兩端的兩固定裝置、及用於驅動其中一轉動座轉動的一轉動驅動裝置；一雷射切割頭，位於該臂的另一端的對面且設於該多軸機械手臂的一端，用以切割該活動載台上的該管件；及一電腦控制裝置，能控制該多軸機械手臂、該雷射切割頭、該多軸轉盤裝置及該活動載台的動作；其中，該管件切割方法包括：將一管件的兩端分別固定於兩該轉動座上；及利用該雷射切割頭沿著該管件的長度方向對該管件進行一批多次的半切割，且該雷射切割頭每進行一次半切割，該第一驅動裝置就驅動該臂以該台面的該中央軸線為軸地轉動，其中，當該雷射切割頭開始進行該批半切割的第一次半切割時，該第一驅動裝置驅動該臂逆時針轉動180度，接著，該雷射切割頭沿著該管件的長度方向向前移動一段距離，之後，再進行該批半切割第二次半切割，此時，該第一驅動裝置驅動該臂順時針轉動180度，然後，該雷射切割頭再沿著該管件的長度方向繼續向前移動一段距離，再進行該批半切割的第三次半切割，此時，該第一驅動裝置驅動該臂逆時針轉動180度，以此類推而完成對該管件的該批半切割的N次半切割，藉以在該管件上形成N道第一半切割痕跡。 A pipe cutting method is performed using a robot arm type pipe laser processing machine, the robot arm type pipe laser processing machine comprising: a multi-axis turntable device, including a base, an arm, a first drive device, a turntable, and a second drive device, wherein the arm is an L-shaped arm and one end of the arm is disposed on a table of the base, and can be used to cut the pipe with a center of the table. The central axis is an axis and rotates relative to the base, the central axis is a horizontal axis, a bearing surface on the other end of the arm is parallel to the horizontal axis and a distance from the horizontal axis, the first driving device is used to drive the arm to rotate so that the bearing surface on the other end of the arm rotates around the horizontal axis, the turntable is located on the bearing surface on the other end of the arm, and can rotate with the The rotating disk also rotates about a central axis of the supporting surface as an axis, the central axis of the supporting surface being a vertical axis, the second driving device being used to drive the rotating disk to rotate, wherein the length of the portion extending vertically from the end of the arm is shorter than the length of the portion extending horizontally from the other end of the arm; a multi-axis machine a robot arm, located on the opposite side of the other end of the arm; a movable platform, fixedly mounted on the turntable of the multi-axis turntable device and located between the turntable and the horizontal axis, wherein the movable platform includes a base fixedly mounted on the turntable, two support bases disposed on the base and separated by a distance, and two rotating shafts disposed on the two support bases and respectively used to place one end of a pipe fitting. a movable seat, two fixing devices for fixing the two ends of the pipe respectively, and a rotating driving device for driving one of the rotating seats to rotate; a laser cutting head, located opposite to the other end of the arm and arranged at one end of the multi-axis robot arm, for cutting the pipe on the movable platform; and a computer control device, capable of controlling the movements of the multi-axis robot arm, the laser cutting head, the multi-axis turntable device and the movable platform; wherein the pipe cutting method comprises: fixing the two ends of a pipe respectively on the two rotating seats; and using the laser cutting head to perform a batch of multiple half cuts on the pipe along the length direction of the pipe, and each time the laser cutting head performs a half cut, the first driving device drives the arm to move along the central axis of the table. The arm is axially rotated, wherein when the laser cutting head starts to perform the first half-cut of the batch of half-cuts, the first driving device drives the arm to rotate 180 degrees counterclockwise, then the laser cutting head moves forward a distance along the length direction of the pipe, and then performs the second half-cut of the batch of half-cuts. At this time, the first driving device drives the arm to rotate 180 degrees clockwise, then the laser cutting head continues to move forward a distance along the length direction of the pipe, and then performs the third half-cut of the batch of half-cuts. At this time, the first driving device drives the arm to rotate 180 degrees counterclockwise, and so on to complete the N half-cuts of the batch of half-cuts of the pipe, so as to form N first half-cut marks on the pipe.

如申請專利範圍第1項的管件切割方法，其中該機械手臂式管件雷射加工機的該活動載台能使所支撐的該管件的一中央軸線與該台面的該中央軸線位在同一軸線上。 For example, in the pipe cutting method of item 1 of the patent application, the movable platform of the robot-type pipe laser processing machine can make a central axis of the supported pipe and the central axis of the table be on the same axis.

如申請專利範圍第1項的管件切割方法，其中該機械手臂式管件雷射加工機的該固定裝置包括兩彈性帶，兩該彈性帶分別能將該管件的兩端分別綁緊於兩該轉動座上。 For example, in the pipe cutting method of item 1 of the patent application, the fixing device of the robot arm type pipe laser processing machine includes two elastic bands, and the two elastic bands can respectively fasten the two ends of the pipe to the two rotating seats.

如請求項1所述的管件切割方法，其中在完成該批的多次半切割之後，利用該轉動驅動裝置驅動該轉動座轉動180度，以使該管件的尚未被切割的另一面露出，然後，由該雷射切割頭沿著該管件的長度方向對該管件進行另一批多次的半切割，其中，當該雷射切割頭開始進該另一批半切割的第一次半切割時，該第一驅動裝置驅動該臂逆時針轉動180度，接著，該雷射切割頭沿著該管件的長度方向向後移動一段距離，之後，再進行該另一批半切割的第二次半切割，此時，該第一驅動裝置驅動該臂順時針轉動180度，然後，該雷射切割頭再沿著該管件的長度方向繼續向後移動一段距離，再進行該另一批半切割的第三次半切割，此時，該第一驅動裝置驅動該臂逆時針轉動180度，以此類推而完成對該管件的該另一批半切割的N次半切割，藉以在該管件上形成N道第二半切割痕跡，其中，每一對第一半切割痕跡與第二半切割痕跡形成幾乎環繞該管件一圈的一切割痕跡，每一切割痕跡至少具有一個未切斷部分。 A pipe cutting method as described in claim 1, wherein after completing the multiple half-cuts of the batch, the rotary drive device is used to drive the rotary seat to rotate 180 degrees to expose the other side of the pipe that has not been cut, and then the laser cutting head performs another batch of multiple half-cuts on the pipe along the length direction of the pipe, wherein when the laser cutting head starts the first half-cut of the other batch of half-cuts, the first drive device drives the arm to rotate 180 degrees counterclockwise, and then the laser cutting head moves backward a distance along the length direction of the pipe, and then the second half-cut of the other batch of half-cuts is performed. Cutting, at this time, the first driving device drives the arm to rotate 180 degrees clockwise, then the laser cutting head continues to move backward along the length direction of the pipe for a distance, and then performs the third half-cut of the other batch of half-cuts. At this time, the first driving device drives the arm to rotate 180 degrees counterclockwise, and so on to complete the N half-cuts of the other batch of half-cuts of the pipe, so as to form N second half-cut marks on the pipe, wherein each pair of the first half-cut mark and the second half-cut mark forms a cutting mark that almost surrounds the pipe, and each cutting mark has at least one uncut portion.

如請求項1至4任一項所述的管件切割方法，其中在該雷射切割頭對該管件進行半切割的過程中，還利用該多軸機械手臂來調整該雷射切割頭的位置。 A pipe cutting method as described in any one of claims 1 to 4, wherein during the process of the laser cutting head half-cutting the pipe, the multi-axis robot is also used to adjust the position of the laser cutting head.

一種管件切割方法，包括：將一管件兩端分別固定於呈L形的一臂上的兩轉動座上；利用一雷射切割頭沿該管件的長度方向進行一批多次的半切割，以在該管件形成一批多道第一半切割痕跡，其中，當該雷射切割頭開始進行該批半切割的第一次半切割時，利用一第一驅動裝置驅動該臂逆時針轉動180度，接著，該雷射切割頭沿著該管件的長度方向向前移動一段距離，之後，再進行該批半切割第二次半切割，此時，該第一驅動裝置驅動該臂順時針轉動180度，然後，該雷射切割頭再沿著該管件的長度方向繼續向前移動一段距離，再進行該批半切割的第三次半切割，此時，該第一驅動裝置驅動該臂逆時針轉動180度，以此類推而完成對該管件的該批半切割的多次半切割，藉以在該管件上形成該些第一半切割痕跡；在一轉動驅動裝置的驅動下，兩該轉動座帶動該管件轉動180度，以使該管件的尚未被切割的另一面露出；及反向地沿該管件的長度方向再進行另一批多次的半切割，以在該管件形成一批多道第二半切割痕跡，其中，當該雷射切割頭開始進該另一批半切割的第一次半切割時，該第一驅動裝置驅動該臂逆時針轉動180度，接著，該雷射切割頭沿著該管件的長度方向向後移動一段距離，之後，再進行該另一批半切割的第二次半切割，此時，該第一驅動裝置驅動該臂順時針轉動180度，然後，該雷射切割頭再沿著該管件的長度方向繼續向後移動一段距離，再進行該另一批半切割的第三次半切割，此時，該第一驅動裝置驅動該臂逆時針轉動180度，以此類推而完成對該管件的該另一批半切割的多次半切割，藉以在該管件上形成該些第二半切割痕跡，其中，每一對第一半切割痕跡與第二半切割痕跡形成幾乎環繞該管件一圈的一切割痕跡，每一切割痕跡至少具有一個未切斷部分。 A pipe cutting method, comprising: fixing two ends of a pipe respectively on two rotating seats on an L-shaped arm; using a laser cutting head to perform a batch of multiple half-cuts along the length direction of the pipe to form a batch of multiple first half-cut marks on the pipe, wherein when the laser cutting head starts to perform the first half-cut of the batch of half-cuts, a first driving device drives the arm to rotate 180 degrees counterclockwise, then the laser cutting head moves forward a distance along the length direction of the pipe, and then performs the second half-cut of the batch of half-cuts. Cutting, at this time, the first driving device drives the arm to rotate 180 degrees clockwise, then the laser cutting head continues to move forward along the length direction of the pipe for a distance, and then performs the third half-cut of the batch of half-cuts. At this time, the first driving device drives the arm to rotate 180 degrees counterclockwise, and so on to complete multiple half-cuts of the batch of half-cuts of the pipe, so as to form the first half-cut marks on the pipe; Under the drive of a rotating driving device, the two rotating seats drive the pipe to rotate 180 degrees, so that the pipe The other side that has not been cut is exposed; and another batch of multiple half cuts are performed in the reverse direction along the length direction of the tube to form a batch of multiple second half cut marks on the tube, wherein when the laser cutting head starts to perform the first half cut of the other batch of half cuts, the first driving device drives the arm to rotate 180 degrees counterclockwise, then, the laser cutting head moves backward along the length direction of the tube for a distance, and then, the second half cut of the other batch of half cuts is performed, at this time, the first driving device drives the arm to rotate 180 degrees clockwise Then, the laser cutting head continues to move backward along the length direction of the pipe for a distance, and then performs the third half-cut of the other batch of half-cuts. At this time, the first driving device drives the arm to rotate 180 degrees counterclockwise, and so on to complete multiple half-cuts of the other batch of half-cuts of the pipe, so as to form the second half-cut marks on the pipe, wherein each pair of the first half-cut mark and the second half-cut mark forms a cutting mark that almost surrounds the pipe, and each cutting mark has at least one uncut portion.

如請求項6所述的管件切割方法，包括沿著該些切割痕跡將該管件分解成數段。 The pipe cutting method as described in claim 6 includes breaking the pipe into several sections along the cutting marks.