TWI847284B - Tube cutting method - Google Patents
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- TWI847284B TWI847284B TW111136426A TW111136426A TWI847284B TW I847284 B TWI847284 B TW I847284B TW 111136426 A TW111136426 A TW 111136426A TW 111136426 A TW111136426 A TW 111136426A TW I847284 B TWI847284 B TW I847284B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003698 laser cutting Methods 0.000 claims abstract description 58
- 238000010586 diagram Methods 0.000 description 2
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 1
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 1
- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 1
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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